无通信协作搬运中基于合力/力矩测量的障碍定位

1. 12:00
   arXiv · Multiagent Systems

   无通信条件下基于合力与力矩测量的领导者—跟随者协同搬运障碍定位

   论文提出一种无需机器人间显式通信的障碍定位方法，用于多机器人协同搬运刚性载荷。跟随者抵抗朝近旁障碍的运动，使载荷平移与角速度同合力与力矩呈分段线性关系，相邻线性区变化可揭示障碍方位、距离并识别响应的跟随者；作者给出固定构型下精确恢复的充分条件与自适应探测流程，并在仿真中验证。

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