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围绕群机器人学的起源与发展,针对群机器人系统与其他多机器人系统的区分准则及系统级功能特征,讨论个体机器人的交互、通信、协调控制机制和自组织、模式形成等群机器人研究中的主要问题,洞悉群机器人的研究概貌和既有研究成果,明确其研究方向。通过回顾概括群机器人系统的主要建模与仿真方法,以个体之间及个体与环境之间的局部交互机制为前提,使感知能力有限的个体机器人在协调控制算法作用下涌现群体智能完成规定的复杂任务,突出群机器人规模可伸缩的系统特征。
Based on the origin and development of group robotics, aiming at the distinguishing criteria and system-level features of group robot systems and other multi-robot systems, this paper discusses the interaction, communication, coordination and control mechanisms of individual robots and group robotics such as self-organization and pattern formation The main problems, insight into the study of group robots and existing research results, a clear direction of its research. By reviewing the main modeling and simulation methods of the generalized swarm robot system, the individual robot with limited perceived ability emerges from the group intelligence under the prerequisite of the local interaction mechanism between individual and individual and the environment Complex tasks highlight the scalable system features of group robots.