[1]张霖,谢开鑫,郑显华,等.多机器人系统感知能力和控制体系结构综述[J].智能系统学报,2024,19(4):767-790.[doi:10.11992/tis.202306001]
　ZHANG Lin,XIE Kaixin,ZHENG Xianhua,et al.A survey on perception ability and control architecture of multi-robot system[J].CAAI Transactions on Intelligent Systems,2024,19(4):767-790.[doi:10.11992/tis.202306001]
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多机器人系统感知能力和控制体系结构综述

《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 19 期数: 2024年第4期 页码: 767-790 栏目: 综述 出版日期: 2024-07-05
Title:
A survey on perception ability and control architecture of multi-robot system
作者:
张霖1,2, 谢开鑫1, 郑显华3, 宋永石3, 王成军1, 赵言正2
1. 安徽理工大学 人工智能学院, 安徽 淮南 232001;
2. 上海交通大学 机械与动力工程学院, 上海200240;
3. 长江师范学院 机器人工程学院, 重庆408100
Author(s):
ZHANG Lin1,2, XIE Kaixin1, ZHENG Xianhua3, SONG Yongshi3, WANG Chengjun1, ZHAO Yanzheng2
1. School of Artificial Intelligence, Anhui University of Science and Technology, Huainan 232001, China;
2. School of Mechanical and Power Engineering, Shanghai Jiao tong University, Shanghai 200240, China;
3. School of Robotics Engineering, Yangtze Normal University, Chongqing 408100, China
关键词:
多机器人系统; 移动机器人; 无人机; 无人船; 水下机器人; 感知; 控制; 协同
Keywords:
multi-robot system; mobile robot; drone; unmanned ship; underwater robot; perception; control; synergy
分类号:
TP18
DOI:
10.11992/tis.202306001
摘要:
为了促进多机器人系统(multi robot system, MRS)的智能化、无人化发展，并提升MRS在不同工作环境中的探测能力和系统的灵活性，本文从MRS的感知能力及其控制系统架构的角度出发，深度调研并分析了MRS相关的研究与工作，重点探讨了空中、地面、水面、水下4种应用环境下的MRS感知能力与控制系统架构，并对未来的研究方向进行展望。本文的结果可对于后续MRS在感知方法和控制系统的选用上提供参考。
Abstract:
To facilitate the intelligent and unmanned development of multi-robot systems(MRS) and improve their detection capabilities and flexibility in various working environments, beginning with the perspective of MRS’s perception abilities and their control system architecture, this paper presents a thorough investigation and analysis of related research and work on MRS, with a particular focus on exploring the perception abilities and control system architecture of MRS in four application environments: aerial, ground, surface, and underwater. Additionally, it offers a forward-looking perspective on future research directions. The findings of this paper can provide guidance for the subsequent selection of perception methods and control systems in MRS.
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备注/Memo

收稿日期:2023-06-01。
基金项目:国家自然科学基金项目（52004034）；中国博士后科学基金项目（2023M742265）；重庆市自然科学基金项目（2023NSCQ-MSX0758）；重庆市教委重点项目（KJZD- K202301403）.
作者简介:张霖，副教授，博士，主要研究方向为特种装备的智能感知与协同控制。主持国家自然科学基金1项，主持中国博士后科学基金、重庆市自然科学基金面上项目、重庆市教委重点项目等10余项，获省部级科技进步三等奖1项、社会力量奖4项。发表学术论文40余篇，E-mail：lin.zhang_2014@hotmail.com;谢开鑫，硕士研究生，主要研究方向为特种设备的智能感知与协同控制。E-mail：kaixin.xie-2022@outlook.com;郑显华，讲师，主要研究方向为机构学、机器人及其控制。作为主持人或主要参与人员完成了国家级或省部级项目6项，开放基金项目1项，校企合作项目3项。发表学术论文8篇。E-mail：xianhuazheng@yznu.edu.cn
通讯作者:张霖. E-mail：linzhang-sjtu@sjtu.edu.cn

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