外观
论文arXiv 2610.0832422 天前
领导者-跟随者协同运输中基于聚合力/力矩测量的无通信障碍物定位
原文链接：Communication-Free Obstacle Localization from Aggregate Wrench Measurements in Leader--Follower Cooperative Transport（arXiv 2610.08324 · 发布日期：2026-10-06）
Communication-Free Obstacle Localization from Aggregate Wrench Measurements in Leader--Follower Cooperative Transport
针对无显式通信的刚性载荷协同运输，设计跟随者控制律，使领导者由聚合力/力矩测量定位障碍，并在仿真验证。
核心要点
- 问题在于领导者只能测得跟随者聚合力/力矩，无法直接区分个体避障反应。
- 方法让跟随者抵抗朝向近邻障碍的运动，建立速度与聚合力/力矩的分段线性关系。
- 相邻线性区域变化可揭示障碍方位、距离，并识别作出响应的跟随者。
- 论文给出固定载荷构型下精确恢复的充分条件，并提出领导者自适应探测过程。
验证范围与局限：验证范围为无显式通信的刚性载荷领导者-跟随者协同运输障碍定位仿真。
英文摘要 (Abstract)
We consider obstacle localization for a team of robots cooperatively transporting a rigid payload without explicit inter-robot communication. A leader robot directs the payload's motion, while follower robots assist and react to locally detected obstacles. The leader measures the followers' aggregate wrench, i.e., the combined force and torque they exert on the payload, but cannot directly distinguish their individual reactions. We design a follower control law that allows the leader to recover obstacle locations from these measurements. Each follower resists motion toward nearby obstacles, resulting in a piecewise-linear relationship between the payload's translational and angular velocity and the aggregate wrench. Changes between adjacent linear regions reveal an obstacle's bearing and distance and identify the responding follower. We give sufficient conditions for exact recovery at a fixed payload configuration and develop an adaptive probing procedure in which the leader applies translational and rotational inputs to the payload to obtain the required measurements. We demonstrate the performance of the proposed method in simulations.
作者：Amin Kashiri, Aditya Mohan, Yasin Yazıcıoğlu
来源
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