ロボット群における運動誘起相分離のPDE制約MPC：モデル忠実度と局所情報の役割
PDE-Constrained MPC of Motility-Induced Phase Separation in Robotic Swarms: The Role of Model Fidelity and Local Information
振動駆動ロボット群の運動誘起相分離をPDE制約付きモデル予測制御で制御し、モデルの忠実度・情報要求・計算コストのトレードオフを集中・分散設定で評価した。
著者: Longchen Niu, Gennaro Notomista
分類: eess.SY
原文アブストラクト
Motility-induced phase separation enables swarm aggregation to be regulated without prescribing a target spatial distribution. This paper develops a partial differential equation-constrained model predictive control framework for a vibration-driven robotic swarm. Three continuum models retaining progressively less orientation information are considered to study the trade-offs among model fidelity, information requirements, and computational cost. The framework is evaluated under centralized and decentralized settings, with focus on how limited sensing and local-to-global phase-separation estimation affect the performance of predictive control.