連続体群ロボットの分散制御：局所コントローラを微分作用素として捉える
On Distributed Control of Continuum Swarms: Local Controllers as Differential Operators
大規模ロボット群を連続体密度としてモデル化し、分散コントローラを微分作用素として定式化する枠組みを提案。目標密度への安定化問題を解析し、純点状コントローラの限界を示すとともに、強い安定性を持つ1次制御則を提示した。
著者: Max Emerick, Saroj Prasad Chhatoi, Bassam Bamieh
分類: eess.SY
原文アブストラクト
We study the problem of distributed control of large-scale robotic swarms which can be modeled as continuum densities evolving under the continuity equation. We propose a formalization of distributed controllers as (generally nonlinear) differential operators, in which control inputs depend only on local information about the state and environment. This perspective yields a fully local, PDE-based framework for analysis and design. We apply this framework to the problem of stabilizing a swarm density around an arbitrary target density, and investigate fundamental limitations of low-order distributed controllers in achieving this goal. In particular, we show that controllers which act in a purely pointwise manner are incompatible with natural system symmetries and strong forms of stability, and must rely on mixing-type behavior to achieve stabilization. In contrast, we present a simple first-order control law which achieves stabilization and enjoys substantially stronger properties.