[ { "id": "P01", "title": "Flocks, herds and schools: A distributed behavioral model", "title_zh": "Boids：用局部行为形成鸟群", "year": 1987, "publication_date": "1987-08", "online_date": "1987-08", "arxiv_date": "", "authors": [ "Craig W. Reynolds" ], "venue": "Proceedings of the 14th annual conference on Computer graphics and interactive techniques", "doi": "10.1145/37401.37406", "status": "正式发表", "tier": 1, "theme": "群集与一致性", "kind": "理论源头", "summary_zh": "把每个个体建模为独立行动者，通过避免过近、对齐邻居速度和向群体靠拢等局部行为，生成类似鸟群、鱼群的集体运动。研究展示了复杂群体图案可以从简单个体规则中出现，为后来的机器人群集提供了直观模型。", "contribution": "建立“局部规则产生整体秩序”的起点。", "limitation": "动画与行为模型；没有给出真实无人机的动力学、安全或收敛保证。", "evidence": "计算机动画／仿真", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1145/37401.37406" }, { "label": "补充核验来源", "url": "https://www.cs.toronto.edu/~dt/siggraph97-course/cwr87/" } ] }, { "id": "P02", "title": "Novel Type of Phase Transition in a System of Self-Driven Particles", "title_zh": "Vicsek 模型：自驱粒子的有序运动", "year": 1995, "publication_date": "1995-08-07", "online_date": "1995-08-07", "arxiv_date": "2006-11-29", "authors": [ "Tamás Vicsek", "András Czirók", "Eshel Ben-Jacob", "Inon Cohen", "Ofer Shochet" ], "venue": "Physical Review Letters", "doi": "10.1103/physrevlett.75.1226", "status": "正式发表", "tier": 2, "theme": "群集与一致性", "kind": "理论源头", "summary_zh": "研究以固定速度运动、方向按邻域平均并受噪声影响的自驱粒子。数值结果显示，密度和噪声变化会使系统在无序与整体同向运动之间转变，揭示局部相互作用如何产生宏观有序状态。", "contribution": "把群体运动引入统计物理与相变研究。", "limitation": "理想化粒子模型；不包含无人机姿态、避障、通信协议及执行器约束。", "evidence": "物理模型／数值仿真", "version_note": "1995 年正式发表；arXiv 页面是 2006 年补存版本，不是首次发表。", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1103/physrevlett.75.1226" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/cond-mat/0611743" } ] }, { "id": "P11", "title": "Virtual leaders, artificial potentials and coordinated control of groups", "title_zh": "虚拟领导者与人工势场", "year": 2001, "publication_date": "2001", "online_date": "", "arxiv_date": "", "authors": [ "Naomi Ehrich Leonard", "Edward Fiorelli" ], "venue": "Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)", "doi": "10.1109/.2001.980728", "status": "正式发表", "tier": 2, "theme": "编队与刚性", "kind": "理论源头", "summary_zh": "使用人工势函数规定邻居间距，并通过虚拟领导者引导群体的形状和整体运动。把动能与势能组合为 Lyapunov 函数，借助耗散项分析闭环稳定性。", "contribution": "是虚拟结构、行为控制与能量方法之间的重要桥梁。", "limitation": "局部势场可能出现局部极小；实际飞行还要满足动力学与感知条件。", "evidence": "理论／模型验证", "version_note": "2001 年 CDC 会议论文；仅据可核实信息标注年份。", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/.2001.980728" }, { "label": "补充核验来源", "url": "https://collaborate.princeton.edu/en/publications/virtual-leaders-artificial-potentials-and-coordinated-control-of-/" } ] }, { "id": "P03", "title": "Coordination of groups of mobile autonomous agents using nearest neighbor rules", "title_zh": "最近邻规则为何能产生一致运动", "year": 2003, "publication_date": "2003-06", "online_date": "", "arxiv_date": "", "authors": [ "Ali Jadbabaie", "Jie Lin", "A. Stephen Morse" ], "venue": "IEEE Transactions on Automatic Control", "doi": "10.1109/tac.2003.812781", "status": "正式发表", "tier": 1, "theme": "群集与一致性", "kind": "理论源头", "summary_zh": "针对随运动不断改变邻居关系的个体系统，分析仅依赖局部航向信息时的一致性。利用切换系统与图结构解释群体在适当的联合连通条件下如何达到共同方向，使早期群集仿真的现象获得数学解释。", "contribution": "从“看起来能协同”迈向可证明的一致性。", "limitation": "连通条件及简化运动模型是前提；方向一致不代表不碰撞。", "evidence": "理论证明", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/tac.2003.812781" }, { "label": "补充核验来源", "url": "https://doi.org/10.1109/TAC.2003.812781" } ] }, { "id": "P16", "title": "Coverage control for mobile sensing networks", "title_zh": "覆盖控制：把队伍放到最有用的位置", "year": 2004, "publication_date": "2004-04", "online_date": "", "arxiv_date": "2002-12-16", "authors": [ "Jorge Cortés", "Sonia Martínez", "Timur Karatas", "Francesco Bullo" ], "venue": "IEEE Transactions on Robotics and Automation", "doi": "10.1109/tra.2004.824698", "status": "正式发表", "tier": 1, "theme": "任务与探索", "kind": "理论源头", "summary_zh": "把多机器人分布式感知转化为覆盖效用优化问题，结合空间分区与梯度下降，让每个移动传感器根据局部信息调整位置。分析自适应、分布式与异步控制性质。", "contribution": "从“保持队形”转向“提高感知覆盖质量”。", "limitation": "目标函数和环境假设决定结果；静态覆盖不等于未知环境的完整探索。", "evidence": "理论／仿真", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/tra.2004.824698" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/math/0212212" } ] }, { "id": "P04", "title": "Consensus problems in networks of agents with switching topology and time-delays", "title_zh": "切换拓扑与时延下的共识", "year": 2004, "publication_date": "2004-09", "online_date": "", "arxiv_date": "", "authors": [ "Reza Olfati-Saber", "Richard M. Murray" ], "venue": "IEEE Transactions on Automatic Control", "doi": "10.1109/tac.2004.834113", "status": "正式发表", "tier": 1, "theme": "群集与一致性", "kind": "理论源头", "summary_zh": "分析固定和切换通信网络中的共识问题，讨论有向信息流、通信时延及网络连通性对收敛的影响，并把图的代数连通性与协商速度联系起来。为分布式控制设计提供了可计算的网络条件。", "contribution": "图拉普拉斯成为理解群体控制的核心工具。", "limitation": "不同结论对应不同拓扑、时延假设，不能合并成对任意网络都有效的保证。", "evidence": "理论／仿真", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/tac.2004.834113" }, { "label": "补充核验来源", "url": "https://authors.library.caltech.edu/records/t2gnt-vd720" } ] }, { "id": "P05", "title": "Information flow and cooperative control of vehicle formations", "title_zh": "信息流如何影响编队稳定性", "year": 2004, "publication_date": "2004-09", "online_date": "", "arxiv_date": "", "authors": [ "J. Alexander Fax", "Richard M. Murray" ], "venue": "IEEE Transactions on Automatic Control", "doi": "10.1109/tac.2004.834433", "status": "正式发表", "tier": 2, "theme": "编队与刚性", "kind": "理论源头", "summary_zh": "把多车编队控制中的单体动力学与车辆间信息交换联系起来，研究通信图的性质如何影响整体稳定性。通过设计局部信息流和反馈结构，使队伍在通信受限与拓扑变化时仍能协调运动。", "contribution": "说明“飞控设计”和“谁与谁通信”必须联合考虑。", "limitation": "采用特定动力学与通信模型；不等同于复杂环境中的多机自主导航。", "evidence": "理论分析", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/tac.2004.834433" }, { "label": "补充核验来源", "url": "https://authors.library.caltech.edu/records/kh9pq-wj662" } ] }, { "id": "P17", "title": "A Formal Analysis and Taxonomy of Task Allocation in Multi-Robot Systems", "title_zh": "多机器人任务分配的分类框架", "year": 2004, "publication_date": "2004-09", "online_date": "2004-09-01", "arxiv_date": "", "authors": [ "Brian P. Gerkey", "Maja J. Matarić" ], "venue": "The International Journal of Robotics Research", "doi": "10.1177/0278364904045564", "status": "正式发表", "tier": 2, "theme": "任务与探索", "kind": "理论源头", "summary_zh": "将任务分配问题按机器人能力、任务所需机器人数量和分配时序分类，说明它们与运筹学和组合优化问题的联系。为比较不同分配算法提供共同的问题定义。", "contribution": "先判断任务类型，再选择拍卖、匹配或调度算法。", "limitation": "通用多机器人框架；不直接解决空中碰撞和飞行时延。", "evidence": "理论分类／综述", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1177/0278364904045564" } ] }, { "id": "P06", "title": "Stability of multiagent systems with time-dependent communication links", "title_zh": "时变通信网络中的多智能体稳定性", "year": 2005, "publication_date": "2005-02", "online_date": "", "arxiv_date": "", "authors": [ "Luc Moreau" ], "venue": "IEEE Transactions on Automatic Control", "doi": "10.1109/tac.2004.841888", "status": "正式发表", "tier": 2, "theme": "通信与韧性", "kind": "理论源头", "summary_zh": "研究通信连接随时间变化时，多智能体的局部更新如何趋向共同状态。用非线性稳定性分析刻画信息在时间窗口内传播所需的条件，不要求网络在每个时刻都具有同样的连接结构。", "contribution": "建立对间歇连接和切换网络的系统分析方法。", "limitation": "满足数学上的信息传播条件，不自动解决定位误差、碰撞与飞行约束。", "evidence": "理论证明", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/tac.2004.841888" }, { "label": "补充核验来源", "url": "https://biblio.ugent.be/publication/309693" } ] }, { "id": "P07", "title": "Consensus seeking in multiagent systems under dynamically changing interaction topologies", "title_zh": "动态交互拓扑下的一致性条件", "year": 2005, "publication_date": "2005-05", "online_date": "", "arxiv_date": "", "authors": [ "Wei Ren", "Randal W. Beard" ], "venue": "IEEE Transactions on Automatic Control", "doi": "10.1109/tac.2005.846556", "status": "正式发表", "tier": 2, "theme": "群集与一致性", "kind": "理论源头", "summary_zh": "针对有向、动态变化的交互网络，研究智能体如何通过邻域信息实现一致性，给出与生成树等图性质有关的条件，并联系多车辆协同控制。", "contribution": "是理解领导者跟随及有向网络协作的重要基础。", "limitation": "对象主要是抽象智能体；编队形状、安全距离需另行设计。", "evidence": "理论／仿真", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/tac.2005.846556" }, { "label": "补充核验来源", "url": "https://intra.engr.ucr.edu/~ren/publications.html" } ] }, { "id": "P08", "title": "Flocking for multi-agent dynamic systems: algorithms and theory", "title_zh": "群集控制的算法与理论", "year": 2006, "publication_date": "2006-03", "online_date": "", "arxiv_date": "", "authors": [ "Reza Olfati-Saber" ], "venue": "IEEE Transactions on Automatic Control", "doi": "10.1109/tac.2005.864190", "status": "正式发表", "tier": 1, "theme": "群集与一致性", "kind": "理论源头", "summary_zh": "把吸引、排斥、速度协调和导航目标组织为可分析的分布式群集算法，讨论无障碍及有障碍环境。通过群体势函数、虚拟个体和稳定性工具解释群体凝聚、碎裂以及迁移行为。", "contribution": "把 Boids 式直觉推进为控制理论体系。", "limitation": "不同算法的理论适用范围不同；仿真粒子数量不等于实飞无人机数量。", "evidence": "理论／二维与三维仿真", "version_note": "2004 年已有 Caltech 技术报告；主条目采用 2006 年 TAC 期刊版。", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/tac.2005.864190" }, { "label": "补充核验来源", "url": "https://authors.library.caltech.edu/records/srjr9-h3r57" } ] }, { "id": "P09", "title": "Consensus and cooperation in networked multi-agent systems", "title_zh": "网络化多智能体共识与合作综述", "year": 2007, "publication_date": "2007-01", "online_date": "", "arxiv_date": "", "authors": [ "Reza Olfati-Saber", "J. Alexander Fax", "Richard M. Murray" ], "venue": "Proceedings of the IEEE", "doi": "10.1109/jproc.2006.887293", "status": "正式发表", "tier": 1, "theme": "群集与一致性", "kind": "综述", "summary_zh": "系统梳理共识算法、信息流、拓扑切换、时延与性能之间的关系，连接群集、编队、同步、分布式估计等应用。强调矩阵、图论和控制理论如何共同解释协调行为。", "contribution": "学习整个领域的理论总入口。", "limitation": "发表于 2007 年；不覆盖随后形成的视觉导航、机载优化和深度学习系统。", "evidence": "综述", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/jproc.2006.887293" }, { "label": "补充核验来源", "url": "https://murray.cds.caltech.edu/index.php/Consensus_and_Cooperation_in_Networked_Multi-Agent_Systems" } ] }, { "id": "P10", "title": "Flocking in Fixed and Switching Networks", "title_zh": "固定与切换网络中的群集稳定性", "year": 2007, "publication_date": "2007-05", "online_date": "", "arxiv_date": "", "authors": [ "Herbert G. Tanner", "Ali Jadbabaie", "George J. Pappas" ], "venue": "IEEE Transactions on Automatic Control", "doi": "10.1109/tac.2007.895948", "status": "正式发表", "tier": 2, "theme": "群集与一致性", "kind": "理论源头", "summary_zh": "分析智能体在速度对齐并稳定相互距离时的群集行为。对切换邻域导致的不连续控制律使用非光滑分析，在网络始终连通等条件下证明速度趋同及距离稳定。", "contribution": "把群集、切换图与非光滑稳定性联系起来。", "limitation": "“始终连通”等前提较强；不能外推到任意断网和遮挡情形。", "evidence": "理论证明", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/tac.2007.895948" }, { "label": "补充核验来源", "url": "https://research.me.udel.edu/~btanner/Papers/boids_TAC.pdf" } ] }, { "id": "P12", "title": "Stabilisation of infinitesimally rigid formations of multi-robot networks", "title_zh": "刚性图与距离编队的稳定化", "year": 2009, "publication_date": "2009-03", "online_date": "2009-02-23", "arxiv_date": "", "authors": [ "Laura Krick", "Mireille E. Broucke", "Bruce A. Francis" ], "venue": "International Journal of Control", "doi": "10.1080/00207170802108441", "status": "正式发表", "tier": 2, "theme": "编队与刚性", "kind": "理论源头", "summary_zh": "以无向无穷小刚性图描述目标队形，用相邻个体距离误差构造势函数和梯度控制律。分析目标编队对应的平衡流形，证明在适当刚性条件下的局部渐近稳定性，并给出机器人实验。", "contribution": "说明哪些相对距离足以约束一个队形。", "limitation": "主要保证局部稳定；初值、错误平衡及镜像等问题不可忽略。", "evidence": "理论／机器人实验", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1080/00207170802108441" } ] }, { "id": "P18", "title": "Consensus-Based Decentralized Auctions for Robust Task Allocation", "title_zh": "CBBA：共识式分布式拍卖", "year": 2009, "publication_date": "2009-08", "online_date": "", "arxiv_date": "", "authors": [ "Han-Lim Choi", "Luc Brunet", "Jonathan P. How" ], "venue": "IEEE Transactions on Robotics", "doi": "10.1109/tro.2009.2022423", "status": "正式发表", "tier": 2, "theme": "任务与探索", "kind": "理论源头", "summary_zh": "提出单任务与多任务束分配算法：机器人根据任务收益竞价，通过邻域共识消除分配冲突。在评分函数等条件下分析收敛和最坏性能，并测试对态势信息不一致和网络变化的适应性。", "contribution": "分布式任务分配的重要基线。", "limitation": "任务分配可行不代表对应飞行轨迹安全；分数设计与任务耦合影响性能。", "evidence": "理论／数值实验", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/tro.2009.2022423" }, { "label": "补充核验来源", "url": "https://dspace.mit.edu/entities/publication/b0bf0a05-be3b-433b-9f4b-ce314ed5178b" } ] }, { "id": "P19", "title": "Reciprocal n-Body Collision Avoidance", "title_zh": "ORCA：互惠避碰", "year": 2011, "publication_date": "2011", "online_date": "", "arxiv_date": "", "authors": [ "Jur van den Berg", "Stephen J. Guy", "Ming Lin", "Dinesh Manocha" ], "venue": "Springer Tracts in Advanced Robotics", "doi": "10.1007/978-3-642-19457-3_1", "status": "正式发表", "tier": 2, "theme": "规划与避碰", "kind": "通用机器人方法", "summary_zh": "各机器人根据其他机器人的位置与速度，共同承担规避碰撞的责任，在允许速度集合中选择接近期望速度的解。无需中央协调，为大量个体的局部避碰提供高效方法。", "contribution": "是后续多机规划与学习方法常用的比较基线。", "limitation": "依赖互惠行为和运动模型；加速度、下洗及感知误差需要扩展处理。", "evidence": "理论／多机器人仿真", "version_note": "ISRR 2009 工作，收录于 2011 年出版的论文集。", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1007/978-3-642-19457-3_1" }, { "label": "补充核验来源", "url": "https://gamma.cs.unc.edu/ORCA/publications/ORCA.pdf" } ] }, { "id": "P20", "title": "Minimum snap trajectory generation and control for quadrotors", "title_zh": "Minimum Snap：让规划轨迹真正可飞", "year": 2011, "publication_date": "2011-05", "online_date": "", "arxiv_date": "", "authors": [ "Daniel Mellinger", "Vijay Kumar" ], "venue": "2011 IEEE International Conference on Robotics and Automation", "doi": "10.1109/icra.2011.5980409", "status": "正式发表", "tier": 1, "theme": "动力学与平台", "kind": "单机基础", "summary_zh": "研究四旋翼在受限三维空间中的轨迹生成与跟踪，利用位置和偏航等平坦输出构造平滑多项式轨迹，优化高阶导数并满足相关约束，再由非线性控制器执行。", "contribution": "多机轨迹规划的重要单机基础。", "limitation": "这是一篇单机论文；本身不提供集群通信、任务分配和互避机制。", "evidence": "单机实飞", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/icra.2011.5980409" } ] }, { "id": "P21", "title": "Trajectory generation and control for precise aggressive maneuvers with quadrotors", "title_zh": "高机动轨迹与控制", "year": 2012, "publication_date": "2012-04", "online_date": "2012-01-25", "arxiv_date": "", "authors": [ "Daniel Mellinger", "Nathan Michael", "Vijay Kumar" ], "venue": "The International Journal of Robotics Research", "doi": "10.1177/0278364911434236", "status": "正式发表", "tier": 2, "theme": "动力学与平台", "kind": "单机基础", "summary_zh": "把复杂飞行动作表示为由目标状态或状态区域定义的轨迹段及对应控制器。结合动力学模型与重复实验修正，使四旋翼能够精确完成穿越狭窄竖直间隙等动作。", "contribution": "说明几何路线必须与动力学、控制器一起设计。", "limitation": "是单机基础工作，不能把单机高机动指标直接当作集群指标。", "evidence": "单机实飞", "version_note": "本条采用 2012 年 IJRR 版本，不与 2014 年同名书章重复计数。", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1177/0278364911434236" } ] }, { "id": "P22", "title": "Mixed-integer quadratic program trajectory generation for heterogeneous quadrotor teams", "title_zh": "异构四旋翼团队的混合整数轨迹规划", "year": 2012, "publication_date": "2012-05", "online_date": "", "arxiv_date": "", "authors": [ "Daniel Mellinger", "Alex Kushleyev", "Vijay Kumar" ], "venue": "2012 IEEE International Conference on Robotics and Automation", "doi": "10.1109/icra.2012.6225009", "status": "正式发表", "tier": 2, "theme": "编队与刚性", "kind": "无人机系统", "summary_zh": "将多机轨迹生成中的连续运动变量与离散空间选择一起放入混合整数二次规划，在障碍与机器人间约束下协调不同飞行器的运动。", "contribution": "展示用统一优化问题显式处理多机约束的路线。", "limitation": "集中式组合优化的计算负担可能随机群规模和环境复杂度迅速增加。", "evidence": "规划方法／多机验证", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/icra.2012.6225009" } ] }, { "id": "P66", "title": "Event-based broadcasting for multi-agent average consensus", "title_zh": "事件触发通信：需要时才广播", "year": 2013, "publication_date": "2013-01", "online_date": "", "arxiv_date": "", "authors": [ "Georg S. Seyboth", "Dimos V. Dimarogonas", "Karl H. Johansson" ], "venue": "Automatica", "doi": "10.1016/j.automatica.2012.08.042", "status": "正式发表", "tier": 2, "theme": "通信与韧性", "kind": "理论源头", "summary_zh": "让每个智能体根据当前状态与上次广播状态的差异决定是否发送消息，在若干一阶和二阶系统情形中分析共识收敛与通信事件间隔，减少固定周期通信的负担。", "contribution": "把带宽使用与控制性能共同设计。", "limitation": "触发阈值、时延模型和非 Zeno 条件都需满足；不是简单降低广播频率。", "evidence": "理论／数值仿真", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1016/j.automatica.2012.08.042" } ] }, { "id": "P67", "title": "Resilient Asymptotic Consensus in Robust Networks", "title_zh": "鲁棒网络中的韧性一致性", "year": 2013, "publication_date": "2013-04", "online_date": "", "arxiv_date": "", "authors": [ "Heath J. LeBlanc", "Haotian Zhang", "Xenofon Koutsoukos", "Shreyas Sundaram" ], "venue": "IEEE Journal on Selected Areas in Communications", "doi": "10.1109/jsac.2013.130413", "status": "正式发表", "tier": 2, "theme": "通信与韧性", "kind": "理论源头", "summary_zh": "研究存在异常或恶意节点时如何依靠局部信息维持正常个体的一致性，并用网络鲁棒性刻画所需的连接冗余。为安全的分布式估计和协同控制提供基础问题框架。", "contribution": "说明“连通”与“能容忍错误信息”是不同要求。", "limitation": "原文针对特定攻击与节点模型；不是无人机完整故障诊断系统。特别需要核对正常节点比例与网络鲁棒性条件。", "evidence": "理论分析", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/jsac.2013.130413" }, { "label": "补充核验来源", "url": "https://cs.vuse.vanderbilt.edu/koutsoxd/www/Publications/resilientConsensusJSAC2013.pdf" } ] }, { "id": "P23", "title": "CAPT: Concurrent assignment and planning of trajectories for multiple robots", "title_zh": "CAPT：同时分配目标和规划轨迹", "year": 2014, "publication_date": "2014-01", "online_date": "2014-01-14", "arxiv_date": "", "authors": [ "Matthew Turpin", "Nathan Michael", "Vijay Kumar" ], "venue": "The International Journal of Robotics Research", "doi": "10.1177/0278364913515307", "status": "正式发表", "tier": 2, "theme": "规划与避碰", "kind": "无人机系统", "summary_zh": "针对可互换机器人，把“谁去哪个目标”和“怎样到达”联合求解。集中式算法在无障碍等条件下具有正确性、完备性和最优性保证，另给出分布式近似方案，并通过仿真与实验验证。", "contribution": "说明目标分配与路径规划联合设计可显著简化问题。", "limitation": "强保证依赖无障碍和机器人可互换等条件。", "evidence": "理论／仿真／机器人实验", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1177/0278364913515307" } ] }, { "id": "P24", "title": "Flocking algorithm for autonomous flying robots", "title_zh": "面向真实飞行器的群集算法", "year": 2014, "publication_date": "2014-05-22", "online_date": "2014-05-22", "arxiv_date": "", "authors": [ "Csaba Virágh", "Gábor Vásárhelyi", "Norbert Tarcai", "Tamás Szörényi", "Gergő Somorjai", "Tamás Nepusz", "Tamás Vicsek" ], "venue": "Bioinspiration & Biomimetics", "doi": "10.1088/1748-3182/9/2/025012", "status": "正式发表", "tier": 2, "theme": "群集与一致性", "kind": "无人机系统", "summary_zh": "将自组织群集规则适配自主飞行机器人，考虑定位不精确、反应延迟及运动限制等实际因素。通过模型与飞行实验探索由局部交互产生协调运动的可行性。", "contribution": "从抽象粒子群走向真实自主飞行。", "limitation": "参数与平台、通信和定位条件相关；并非未知森林中的视觉自主导航。", "evidence": "模型／户外实飞", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1088/1748-3182/9/2/025012" }, { "label": "补充核验来源", "url": "https://arxiv.org/abs/1310.3601" } ] }, { "id": "P65", "title": "Time-Varying Formation Control for Unmanned Aerial Vehicles: Theories and Applications", "title_zh": "时变编队控制：理论与无人机应用", "year": 2015, "publication_date": "2015-01", "online_date": "", "arxiv_date": "", "authors": [ "Xiwang Dong", "Bocheng Yu", "Zongying Shi", "Yisheng Zhong" ], "venue": "IEEE Transactions on Control Systems Technology", "doi": "10.1109/tcst.2014.2314460", "status": "正式发表", "tier": 2, "theme": "编队与刚性", "kind": "无人机系统", "summary_zh": "针对随时间变化的编队，设计允许个体速度不同的协同协议，并通过共识方法给出编队可实现的充要条件、编队中心表达式和设计流程。论文介绍五架四旋翼的平台，并用户外实验验证理论。", "contribution": "是控制理论学习中连接静态队形与动态编队的重要节点。", "limitation": "控制协议对应特定动力学和交互假设；时变编队可实现性不等于任意障碍环境的导航安全。", "evidence": "理论／5 架四旋翼户外实验", "version_note": "采用 2015-01 期刊卷期；作者自存页表明 2014 年已公开，不把卷期年当首次公开年。", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/tcst.2014.2314460" }, { "label": "补充核验来源", "url": "https://www.researchgate.net/publication/262804695_Time-Varying_Formation_Control_for_Unmanned_Aerial_Vehicles_Theories_and_Applications" } ] }, { "id": "P13", "title": "A survey of multi-agent formation control", "title_zh": "编队控制的三类信息结构", "year": 2015, "publication_date": "2015-03", "online_date": "", "arxiv_date": "", "authors": [ "Kwang-Kyo Oh", "Myoung-Chul Park", "Hyo-Sung Ahn" ], "venue": "Automatica", "doi": "10.1016/j.automatica.2014.10.022", "status": "正式发表", "tier": 1, "theme": "编队与刚性", "kind": "综述", "summary_zh": "按照个体可测量的信息和交互拓扑，把编队控制分为基于位置、相对位移和相对距离的路线，并比较问题定义、假设及主要结果。适合用来区分外观相似但传感器要求不同的编队算法。", "contribution": "建立编队控制的分类坐标。", "limitation": "是一份截至当时的综述；不能用来断言 2026 年的技术成熟度。", "evidence": "综述", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1016/j.automatica.2014.10.022" } ] }, { "id": "P14", "title": "Bearing Rigidity and Almost Global Bearing-Only Formation Stabilization", "title_zh": "方位刚性与仅方位编队稳定化", "year": 2016, "publication_date": "2016-05", "online_date": "", "arxiv_date": "2014-08-27", "authors": [ "Shiyu Zhao", "Daniel Zelazo" ], "venue": "IEEE Transactions on Automatic Control", "doi": "10.1109/tac.2015.2459191", "status": "正式发表", "tier": 2, "theme": "编队与刚性", "kind": "理论源头", "summary_zh": "研究邻居间方位何时能在平移和尺度自由度之外唯一确定队形，把方位刚性推广到任意维度。设计仅使用方位测量的分布式控制律，并在相应条件下证明几乎全局稳定化。", "contribution": "连接视觉方向测量与编队几何。", "limitation": "距离尺度不可由纯方位自动确定；遮挡、视场与噪声要单独处理。", "evidence": "理论／数值仿真", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/tac.2015.2459191" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/1408.6552" } ] }, { "id": "P26", "title": "Crazyswarm: A large nano-quadcopter swarm", "title_zh": "Crazyswarm：可复用的微型集群平台", "year": 2017, "publication_date": "2017-05", "online_date": "", "arxiv_date": "", "authors": [ "James A. Preiss", "Wolfgang Honig", "Gaurav S. Sukhatme", "Nora Ayanian" ], "venue": "2017 IEEE International Conference on Robotics and Automation (ICRA)", "doi": "10.1109/icra.2017.7989376", "status": "正式发表", "tier": 1, "theme": "动力学与平台", "kind": "无人机系统", "summary_zh": "提供从定位数据、无线通信、机载状态估计到轨迹执行的软件和硬件组织方案，使大量微型四旋翼可以协调飞行。论文展示 49 架平台规模，并降低集群实验的重复搭建成本。", "contribution": "为多机算法研究提供可复现实验基础。", "limitation": "主要依赖室内运动捕捉条件；平台规模不等于野外自主能力。", "evidence": "49 架室内微型四旋翼", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/icra.2017.7989376" }, { "label": "补充核验来源", "url": "https://www.jamespreiss.com/" } ] }, { "id": "P29", "title": "Safety Barrier Certificates for Collisions-Free Multirobot Systems", "title_zh": "安全屏障证书：给控制器加安全约束", "year": 2017, "publication_date": "2017-06", "online_date": "", "arxiv_date": "", "authors": [ "Li Wang", "Aaron D. Ames", "Magnus Egerstedt" ], "venue": "IEEE Transactions on Robotics", "doi": "10.1109/tro.2017.2659727", "status": "正式发表", "tier": 1, "theme": "安全与验证", "kind": "通用机器人方法", "summary_zh": "将名义控制指令投影到满足碰撞约束的控制集合，通过可实时求解的二次规划尽量少地修改原动作。研究集中与分布式形式、保守性、可行性及死锁等问题，并在轮式机器人上验证。", "contribution": "为“性能算法＋安全过滤器”提供核心方法。", "limitation": "原论文实验是地面机器人；无人机需处理更高相对阶、执行器限制和跟踪误差。", "evidence": "理论／轮式机器人实验", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/tro.2017.2659727" }, { "label": "补充核验来源", "url": "https://jdeshmukh.github.io/teaching/cs699-fm-for-robotics-spring-2021/Papers/SafetyBarrierCertificatesForCollisionFreeMultiRobotSystems-WangEtAl.pdf" } ] }, { "id": "P30", "title": "Control Barrier Function Based Quadratic Programs for Safety Critical Systems", "title_zh": "CBF-QP：统一安全与性能", "year": 2017, "publication_date": "2017-08", "online_date": "", "arxiv_date": "2016-09-21", "authors": [ "Aaron D. Ames", "Xiangru Xu", "Jessy W. Grizzle", "Paulo Tabuada" ], "venue": "IEEE Transactions on Automatic Control", "doi": "10.1109/tac.2016.2638961", "status": "正式发表", "tier": 2, "theme": "安全与验证", "kind": "理论源头", "summary_zh": "用控制屏障函数描述安全集合的前向不变性，用控制 Lyapunov 函数表达性能目标，在二次规划中协调两者，并通过汽车控制问题展示方法。", "contribution": "理解安全过滤和安全学习控制的理论入口。", "limitation": "安全成立依赖模型、初始安全集合和约束可行性；论文不是无人机集群实验证明。", "evidence": "理论／汽车控制案例", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/tac.2016.2638961" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/1609.06408" } ] }, { "id": "P27", "title": "Downwash-aware trajectory planning for large quadrotor teams", "title_zh": "考虑下洗的多机轨迹规划", "year": 2017, "publication_date": "2017-09", "online_date": "", "arxiv_date": "", "authors": [ "James A. Preiss", "Wolfgang Honig", "Nora Ayanian", "Gaurav S. Sukhatme" ], "venue": "2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)", "doi": "10.1109/iros.2017.8202165", "status": "正式发表", "tier": 2, "theme": "动力学与平台", "kind": "无人机系统", "summary_zh": "先在离散空间规划多机运动，再把路径平滑为连续轨迹，同时把四旋翼上下方的不对称下洗影响纳入安全间隔。论文以大规模仿真和微型无人机实验验证方案。", "contribution": "提醒研究者：几何上不碰撞，气动力上仍可能不安全。", "limitation": "200 机是仿真，32 机是实飞；规划可耗时数分钟，不是同等规模的机载实时重规划。", "evidence": "200 机仿真／32 机实飞", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/iros.2017.8202165" }, { "label": "补充核验来源", "url": "https://github.com/jpreiss/smoothener" } ] }, { "id": "P25", "title": "Optimized flocking of autonomous drones in confined environments", "title_zh": "受限空间中的优化群集飞行", "year": 2018, "publication_date": "2018-07-25", "online_date": "", "arxiv_date": "", "authors": [ "Gábor Vásárhelyi", "Csaba Virágh", "Gergő Somorjai", "Tamás Nepusz", "Agoston E. Eiben", "Tamás Vicsek" ], "venue": "Science Robotics", "doi": "10.1126/scirobotics.aat3536", "status": "正式发表", "tier": 1, "theme": "群集与一致性", "kind": "无人机系统", "summary_zh": "用演化优化调整群集模型参数，兼顾边界、障碍、运动和交互约束。把仿真优化得到的策略用于真实无人机队伍，展示受限环境中的自组织运动。", "contribution": "把参数优化、物理约束和较大规模实飞连接起来。", "limitation": "论文展示 30 架实飞；其定位与通信条件必须保留，不能称为无定位基础设施的通用系统。", "evidence": "30 架无人机实飞", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1126/scirobotics.aat3536" } ] }, { "id": "P31", "title": "A Survey on Aerial Swarm Robotics", "title_zh": "空中集群机器人总综述", "year": 2018, "publication_date": "2018-08", "online_date": "", "arxiv_date": "", "authors": [ "Soon-Jo Chung", "Aditya Avinash Paranjape", "Philip Dames", "Shaojie Shen", "Vijay Kumar" ], "venue": "IEEE Transactions on Robotics", "doi": "10.1109/tro.2018.2857475", "status": "正式发表", "tier": 1, "theme": "系统综述", "kind": "综述", "summary_zh": "把空中集群拆成通信、任务分配、运动规划、协调控制等组成部分，并讨论飞行物理及子系统技术如何限制算法。适合建立从单机到任务层的整体知识地图。", "contribution": "最值得先读的系统入口之一。", "limitation": "是 2018 年的知识快照，需与较新的实机系统论文配合阅读。", "evidence": "综述", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/tro.2018.2857475" }, { "label": "补充核验来源", "url": "https://sites.temple.edu/pdames/files/2019/03/ChungEtAlTRO2018.pdf" } ] }, { "id": "P15", "title": "Affine Formation Maneuver Control of Multiagent Systems", "title_zh": "仿射编队机动控制", "year": 2018, "publication_date": "2018-12", "online_date": "", "arxiv_date": "", "authors": [ "Shiyu Zhao" ], "venue": "IEEE Transactions on Automatic Control", "doi": "10.1109/tac.2018.2798805", "status": "正式发表", "tier": 2, "theme": "编队与刚性", "kind": "理论源头", "summary_zh": "利用编队几何与应力矩阵，研究队形在平移、旋转、缩放及其他仿射变换时如何由少数领导者驱动、其余个体通过局部反馈跟随。把形状保持与整体机动纳入统一控制框架。", "contribution": "让队形能够变形，以适应通道和任务需求。", "limitation": "仿射可定位性、领导者配置和模型条件决定保证范围。", "evidence": "理论／仿真", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/tac.2018.2798805" }, { "label": "补充核验来源", "url": "https://eprints.whiterose.ac.uk/id/eprint/127409/" } ] }, { "id": "P34", "title": "Trajectory Generation for Multiagent Point-To-Point Transitions via Distributed Model Predictive Control", "title_zh": "用分布式 MPC 生成多机转场轨迹", "year": 2019, "publication_date": "2019-04", "online_date": "", "arxiv_date": "", "authors": [ "Carlos E. Luis", "Angela P. Schoellig" ], "venue": "IEEE Robotics and Automation Letters", "doi": "10.1109/lra.2018.2890572", "status": "正式发表", "tier": 2, "theme": "规划与避碰", "kind": "无人机系统", "summary_zh": "将多机器人从起点到目标点的转场分解为可并行求解的局部预测控制问题，通过处理潜在碰撞约束协调轨迹。兼顾计算效率、轨迹可行性及实验验证。", "contribution": "学习分布式优化如何缓解集中规划负担。", "limitation": "分布式计算不自动等于完全机载在线自主；需核对求解位置、信息交换和实验设置。", "evidence": "仿真／多机实验", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/lra.2018.2890572" }, { "label": "补充核验来源", "url": "https://www.dynsyslab.org/wp-content/papercite-data/pdf/luis-ral19.pdf" } ] }, { "id": "P28", "title": "Distributed multi-robot formation control in dynamic environments", "title_zh": "动态环境中的分布式编队控制", "year": 2019, "publication_date": "2019-06", "online_date": "2018-07-20", "arxiv_date": "", "authors": [ "Javier Alonso-Mora", "Eduardo Montijano", "Tobias Nägeli", "Otmar Hilliges", "Mac Schwager", "Daniela Rus" ], "venue": "Autonomous Robots", "doi": "10.1007/s10514-018-9783-9", "status": "正式发表", "tier": 2, "theme": "编队与刚性", "kind": "无人机系统", "summary_zh": "各机器人在有限通信和可见范围内交换信息，用分布式共识和约束优化计算队形参数与安全运动空间，协调通过静态和动态障碍。论文包含四旋翼编队与移动人员共同处于环境中的实验。", "contribution": "把队形调整与动态避障结合起来。", "limitation": "需满足邻域信息、可见性和优化模型假设；不是任意遮挡下的安全保证。", "evidence": "理论／仿真／4 架四旋翼实验", "version_note": "在线发表于 2018-07-20，卷期发表于 2019-06；列表采用卷期年。", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1007/s10514-018-9783-9" }, { "label": "补充核验来源", "url": "https://msl.stanford.edu/papers/alonso-mora_distributed_2019.pdf" } ] }, { "id": "P33", "title": "Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment", "title_zh": "微型飞行机器人对未知空间的极简探索", "year": 2019, "publication_date": "2019-10-30", "online_date": "2019-10-23", "arxiv_date": "", "authors": [ "K. N. McGuire", "C. De Wagter", "K. Tuyls", "H. J. Kappen", "G. C. H. E. de Croon" ], "venue": "Science Robotics", "doi": "10.1126/scirobotics.aaw9710", "status": "正式发表", "tier": 2, "theme": "任务与探索", "kind": "无人机系统", "summary_zh": "在微型平台资源受限的前提下，组合避障、相对定位、分散探索与返回基站等能力，用简单导航机制完成未知环境探索。工作展示了小型机器人无需完整重型地图管线也能承担协同任务。", "contribution": "极低成本、极低算力自主群体的一条独立路线。", "limitation": "依赖特定传感器、无线信标与任务设置；与高精度三维建图系统目标不同。", "evidence": "微型无人机室内探索实验", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1126/scirobotics.aaw9710" }, { "label": "补充核验来源", "url": "https://mavlab.tudelft.nl/swarm-of-tiny-drones-explores-unknown-environments/" } ] }, { "id": "P68", "title": "Coordinated flight control of miniature fixed-wing UAV swarms: methods and experiments", "title_zh": "微型固定翼集群的协调控制与实验", "year": 2019, "publication_date": "2019-11", "online_date": "2019-09-19", "arxiv_date": "", "authors": [ "Xiangke Wang", "Lincheng Shen", "Zhihong Liu", "Shulong Zhao", "Yirui Cong", "Zhongkui Li", "Shengde Jia", "Hao Chen", "Yangguan Yu", "Yuan Chang", "Yajing Wang" ], "venue": "Science China Information Sciences", "doi": "10.1007/s11432-018-9887-5", "status": "正式发表", "tier": 2, "theme": "编队与刚性", "kind": "无人机系统", "summary_zh": "提出分层、分组、面向任务的体系，结合盘旋会合、领导机路径跟随和跟随机协调控制，并考虑队形重构、机间互避及避障。论文报告最多 21 架固定翼的现场实验。", "contribution": "补足四旋翼之外的固定翼路线和中国团队实验证据。", "limitation": "固定翼不能悬停，转弯半径、速度与航迹约束不同；不能直接复用四旋翼参数与结论。", "evidence": "最多 21 架固定翼现场实验", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1007/s11432-018-9887-5" }, { "label": "补充核验来源", "url": "https://ir.pku.edu.cn/handle/20.500.11897/544684" } ] }, { "id": "P36", "title": "Learning Decentralized Controllers for Robot Swarms with Graph Neural Networks", "title_zh": "从集中式专家学习分布式群集控制器", "year": 2020, "publication_date": "2020", "online_date": "", "arxiv_date": "2019-03-25", "authors": [ "Ekaterina Tolstaya", "Fernando Gama", "James Paulos", "George Pappas", "Vijay Kumar", "Alejandro Ribeiro" ], "venue": "CoRL 2019 / PMLR 100 (2020)", "doi": "", "status": "正式发表", "tier": 2, "theme": "学习与智能", "kind": "通用机器人方法", "summary_zh": "用拥有全局信息的控制器生成示范，再训练仅依赖局部观测与邻居通信的共享策略。通过适应时变图的图神经网络利用多跳信息，研究通信半径和速度变化对群集效果的影响。", "contribution": "连接经典控制器、模仿学习与分布式信息结构。", "limitation": "训练时的全局信息不能与部署时的信息要求混为一谈；安全需另外论证。", "evidence": "群集仿真／学习方法", "version_note": "CoRL 2019；PMLR 论文集标为 2020。", "sources": [ { "label": "正式论文／原摘要", "url": "https://proceedings.mlr.press/v100/tolstaya20a.html" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/1903.10527" } ] }, { "id": "P32", "title": "A Survey on Swarming With Micro Air Vehicles: Fundamental Challenges and Constraints", "title_zh": "微型飞行器群集的基本约束", "year": 2020, "publication_date": "2020-02-25", "online_date": "2020-02-25", "arxiv_date": "", "authors": [ "Mario Coppola", "Kimberly N. McGuire", "Christophe De Wagter", "Guido C. H. E. de Croon" ], "venue": "Frontiers in Robotics and AI", "doi": "10.3389/frobt.2020.00018", "status": "正式发表", "tier": 1, "theme": "系统综述", "kind": "综述", "summary_zh": "围绕微型无人机的体积、重量、功耗、感知、计算与通信能力，讨论如何实现自主群集。强调算法不能脱离硬件和环境条件，分析走向真实应用的障碍。", "contribution": "建立系统工程意识，纠正只看控制律的视角。", "limitation": "综述提供问题框架，不是各方案在相同条件下的性能排行榜。", "evidence": "综述", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.3389/frobt.2020.00018" } ] }, { "id": "P37", "title": "GLAS: Global-to-Local Safe Autonomy Synthesis for Multi-Robot Motion Planning With End-to-End Learning", "title_zh": "GLAS：学习局部策略并嵌入安全模块", "year": 2020, "publication_date": "2020-07", "online_date": "", "arxiv_date": "2020-02-26", "authors": [ "Benjamin Riviere", "Wolfgang Honig", "Yisong Yue", "Soon-Jo Chung" ], "venue": "IEEE Robotics and Automation Letters", "doi": "10.1109/lra.2020.2994035", "status": "正式发表", "tier": 2, "theme": "学习与智能", "kind": "无人机系统", "summary_zh": "先由全局规划器产生演示，再用深度模仿学习得到局部策略，并加入可微安全模块，使训练同时考虑安全要求。局部策略仅依赖附近机器人及障碍信息，论文在微型无人机上部署验证。", "contribution": "模型规划与学习结合的一条重要路线。", "limitation": "安全证明依赖动力学、观测和约束假设；与现实误差之间仍有距离。", "evidence": "理论／仿真／无人机实飞", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/lra.2020.2994035" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/2002.11807" } ] }, { "id": "P35", "title": "Graph Neural Networks for Decentralized Multi-Robot Path Planning", "title_zh": "用图神经网络学习局部通信与路径规划", "year": 2020, "publication_date": "2020-10-24", "online_date": "", "arxiv_date": "2019-12-12", "authors": [ "Qingbiao Li", "Fernando Gama", "Alejandro Ribeiro", "Amanda Prorok" ], "venue": "2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)", "doi": "10.1109/iros45743.2020.9341668", "status": "正式发表", "tier": 2, "theme": "学习与智能", "kind": "通用机器人方法", "summary_zh": "用卷积网络编码局部观测，用图神经网络交换邻居信息，通过模仿专家规划器训练分布式决策。测试在更大队伍和更大环境中的迁移能力。", "contribution": "图结构为不同机数之间共享策略提供自然表示。", "limitation": "主要是二维多机器人仿真；不是三维无人机实飞或无条件安全证明。", "evidence": "二维多机器人仿真", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/iros45743.2020.9341668" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/1912.06095" } ] }, { "id": "P64", "title": "Bio-Inspired Compact Swarms of Unmanned Aerial Vehicles without Communication and External Localization", "title_zh": "无需显式通信和外部定位的仿生群集", "year": 2020, "publication_date": "2021-03", "online_date": "2020-12-18", "arxiv_date": "2023-03-06", "authors": [ "Pavel Petráček", "Viktor Walter", "Tomáš Báča", "Martin Saska" ], "venue": "Bioinspiration & Biomimetics", "doi": "10.1088/1748-3190/abc6b3", "status": "正式发表", "tier": 2, "theme": "协同感知与定位", "kind": "无人机系统", "summary_zh": "利用 UVDAR 机间相对感知，让无人机仅根据邻域的直接观测产生集体运动，并在室内、户外环境验证分布式行为。强调减少对网络和共享绝对坐标的依赖。", "contribution": "证明“协同”可以通过直接感知而不必完全依靠无线消息。", "limitation": "依赖专门的视觉标记／传感方案和可见性；不是任意相机或任意遮挡都可用。", "evidence": "真实无人机群集／开源", "version_note": "2020-12-18 在线发表，2021-03 卷期；2023 年 arXiv 是后补版本，非新成果。", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1088/1748-3190/abc6b3" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/2303.02989" } ] }, { "id": "P39", "title": "EGO-Planner: An ESDF-free Gradient-based Local Planner for Quadrotors", "title_zh": "EGO-Planner：不依赖 ESDF 的局部规划", "year": 2021, "publication_date": "2021-04", "online_date": "", "arxiv_date": "2020-08-20", "authors": [ "Xin Zhou", "Zhepei Wang", "Hongkai Ye", "Chao Xu", "Fei Gao" ], "venue": "IEEE Robotics and Automation Letters", "doi": "10.1109/lra.2020.3047728", "status": "正式发表", "tier": 2, "theme": "规划与避碰", "kind": "单机基础", "summary_zh": "通过将碰撞轨迹与安全引导路径比较，仅提取优化需要的障碍信息，减少维护欧氏有符号距离场的成本。结合时间分配和曲线调整，获得适合机载执行的局部轨迹。", "contribution": "实时规划效率是自主集群能够落到小飞机上的前提。", "limitation": "单机局部规划器；机间协同与相对定位需要额外系统模块。", "evidence": "单机实飞／开源实现", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/lra.2020.3047728" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/2008.08835" } ] }, { "id": "P43", "title": "The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles", "title_zh": "MRS UAV：可复现的飞行研究系统", "year": 2021, "publication_date": "2021-05", "online_date": "2021-04-30", "arxiv_date": "2020-08-18", "authors": [ "Tomas Baca", "Matej Petrlik", "Matous Vrba", "Vojtech Spurny", "Robert Penicka", "Daniel Hert", "Martin Saska" ], "venue": "Journal of Intelligent & Robotic Systems", "doi": "10.1007/s10846-021-01383-5", "status": "正式发表", "tier": 2, "theme": "动力学与平台", "kind": "无人机系统", "summary_zh": "提供控制、估计、多坐标系定位和仿真工具，支持多传感器冗余、定位源切换及复杂任务。系统由真实部署需求推动，服务集群、规划、操作和教育等研究。", "contribution": "研发效率和复现能力也是集群技术的一部分。", "limitation": "是底层研究平台；采用平台本身不代表上层集群算法已通过验证。", "evidence": "开放系统／多场景实机部署", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1007/s10846-021-01383-5" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/2008.08050" } ] }, { "id": "P44", "title": "Predictive control of aerial swarms in cluttered environments", "title_zh": "预测式群集控制", "year": 2021, "publication_date": "2021-05-17", "online_date": "2021-05-17", "arxiv_date": "", "authors": [ "Enrica Soria", "Fabrizio Schiano", "Dario Floreano" ], "venue": "Nature Machine Intelligence", "doi": "10.1038/s42256-021-00341-y", "status": "正式发表", "tier": 2, "theme": "规划与避碰", "kind": "无人机系统", "summary_zh": "在群集模型中引入对未来运动的预测，使用非线性模型预测控制提前协调避障与个体间距，减少纯反应式规则在拥挤空间中的局限。论文包含五架四旋翼的室内障碍环境验证。", "contribution": "把群体协调从当前反应推进到预测未来。", "limitation": "需核对集中计算与定位设置；后续分布式版本应单独阅读。", "evidence": "5 架室内实飞／仿真", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1038/s42256-021-00341-y" }, { "label": "补充核验来源", "url": "https://aerial-core.eu/wp-content/uploads/2021/11/soria_predictive_2021.pdf" } ] }, { "id": "P40", "title": "EGO-Swarm: A Fully Autonomous and Decentralized Quadrotor Swarm System in Cluttered Environments", "title_zh": "EGO-Swarm：复杂环境中的自主分布式集群", "year": 2021, "publication_date": "2021-05-30", "online_date": "", "arxiv_date": "2020-11-09", "authors": [ "Xin Zhou", "Jiangchao Zhu", "Hongyu Zhou", "Chao Xu", "Fei Gao" ], "venue": "2021 IEEE International Conference on Robotics and Automation (ICRA)", "doi": "10.1109/icra48506.2021.9561902", "status": "正式发表", "tier": 1, "theme": "规划与避碰", "kind": "无人机系统", "summary_zh": "提出依靠机载资源的异步、分布式多机导航系统，以局部轨迹优化处理障碍和邻机碰撞，结合拓扑路径选择提升规划成功率，并利用机间检测修正相对定位漂移。", "contribution": "从协调执行走向在线自主决策的重要系统节点。", "limitation": "局部优化和软碰撞惩罚不是对任意情形的全局安全证书；依赖传感器与轨迹交换。", "evidence": "仿真／真实多机飞行／开源", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/icra48506.2021.9561902" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/2011.04183" } ] }, { "id": "P38", "title": "Learning High-Speed Flight in the Wild", "title_zh": "在野外学习高速飞行", "year": 2021, "publication_date": "2021-10-13", "online_date": "", "arxiv_date": "", "authors": [ "Antonio Loquercio", "Elia Kaufmann", "René Ranftl", "Matthias Müller", "Vladlen Koltun", "Davide Scaramuzza" ], "venue": "Science Robotics", "doi": "10.1126/scirobotics.abg5810", "status": "正式发表", "tier": 2, "theme": "学习与智能", "kind": "单机基础", "summary_zh": "通过仿真训练视觉飞行策略，将感知输入映射为适合执行的运动决策，再迁移到真实复杂环境。展示学习方法处理高速单机避障的潜力。", "contribution": "为后续视觉集群策略提供单机能力基础。", "limitation": "单机论文；不能把其速度与成功率作为多机互避和群体协同结果。", "evidence": "单机野外实飞", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1126/scirobotics.abg5810" } ] }, { "id": "P51", "title": "Decentralized Control of Quadrotor Swarms with End-to-end Deep Reinforcement Learning", "title_zh": "端到端强化学习控制四旋翼集群", "year": 2022, "publication_date": "2022", "online_date": "", "arxiv_date": "2021-09-16", "authors": [ "Sumeet Batra", "Zhehui Huang", "Aleksei Petrenko", "Tushar Kumar", "Artem Molchanov", "Gaurav S. Sukhatme" ], "venue": "CoRL 2021 / PMLR 164 (2022)", "doi": "", "status": "正式发表", "tier": 2, "theme": "学习与智能", "kind": "无人机系统", "summary_zh": "在含四旋翼物理的仿真中训练共享分布式策略，研究网络结构与训练方案对群体行为的影响。把策略迁移到资源受限的真实微型无人机，验证保持位置与目标交换等行为。", "contribution": "展示学习控制器从仿真走向真实小型集群的可能。", "limitation": "多种复杂行为在仿真展示；实机验证范围较窄，不能把两者合并描述。", "evidence": "大规模训练／最多 8 架微型机实测", "version_note": "CoRL 2021；PMLR 论文集年份为 2022。", "sources": [ { "label": "正式论文／原摘要", "url": "https://proceedings.mlr.press/v164/batra22a.html" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/2109.07735" } ] }, { "id": "P69", "title": "Distributed Predictive Drone Swarms in Cluttered Environments", "title_zh": "分布式预测式无人机群集", "year": 2022, "publication_date": "2022-01", "online_date": "2021-10-06", "arxiv_date": "", "authors": [ "Enrica Soria", "Fabrizio Schiano", "Dario Floreano" ], "venue": "IEEE Robotics and Automation Letters", "doi": "10.1109/lra.2021.3118091", "status": "正式发表", "tier": 2, "theme": "规划与避碰", "kind": "无人机系统", "summary_zh": "把预测式群集控制组织为各个体求解局部问题的形式，利用邻域信息协调未来运动，在森林和漏斗状场景仿真中测试扩展性及噪声影响，并以最多 16 架室内四旋翼实验验证。", "contribution": "承接预测式群集，进一步处理分布式部署问题。", "limitation": "局部预测对邻机模型和信息质量敏感；分布式不表示不存在通信或定位基础设施。", "evidence": "仿真／最多 16 架室内实飞", "version_note": "2021-10-06 在线，2022-01 卷期；采用卷期年。", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/lra.2021.3118091" }, { "label": "补充核验来源", "url": "https://ieeexplore.ieee.org/document/9562281/" } ] }, { "id": "P41", "title": "MADER: Trajectory Planner in Multiagent and Dynamic Environments", "title_zh": "MADER：异步多机与动态环境轨迹规划", "year": 2022, "publication_date": "2022-02", "online_date": "", "arxiv_date": "2020-10-21", "authors": [ "Jesus Tordesillas", "Jonathan P. How" ], "venue": "IEEE Transactions on Robotics", "doi": "10.1109/tro.2021.3080235", "status": "正式发表", "tier": 2, "theme": "规划与避碰", "kind": "无人机系统", "summary_zh": "用紧致多面体包络表示轨迹区间，通过优化分离平面处理与移动障碍及其他规划个体的冲突。结合已承诺轨迹与检查机制，使无人机可以异步、分布式地产生轨迹。", "contribution": "给连续时间轨迹互避提供几何优化框架。", "limitation": "原有信息时效假设需注意；通信延迟问题由后续 RMADER 更直接处理。", "evidence": "理论／复杂环境仿真", "version_note": "2021 年在线发表，2022-02 卷期。", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/tro.2021.3080235" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/2010.11061" } ] }, { "id": "P42", "title": "Neural-Swarm2: Planning and Control of Heterogeneous Multirotor Swarms Using Learned Interactions", "title_zh": "Neural-Swarm2：学习机间气动影响", "year": 2022, "publication_date": "2022-04", "online_date": "", "arxiv_date": "2020-12-10", "authors": [ "Guanya Shi", "Wolfgang Honig", "Xichen Shi", "Yisong Yue", "Soon-Jo Chung" ], "venue": "IEEE Transactions on Robotics", "doi": "10.1109/tro.2021.3098436", "status": "正式发表", "tier": 2, "theme": "动力学与平台", "kind": "无人机系统", "summary_zh": "将物理名义模型与学习到的残差气动力结合，用适合异构邻居集合的网络表示下洗等相互作用，并把预测用于规划及非线性跟踪控制。实验证明可减小近距离飞行误差。", "contribution": "把“机间距离”背后的真实气动物理纳入控制。", "limitation": "模型泛化取决于训练覆盖、机型与工况；学习模型不能无限外推。", "evidence": "异构多旋翼近距离实飞", "version_note": "2021 年在线发表，2022-04 卷期；arXiv 首版为 2020 年。", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/tro.2021.3098436" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/2012.05457" } ] }, { "id": "P45", "title": "Swarm of micro flying robots in the wild", "title_zh": "野外自主微型飞行机器人集群", "year": 2022, "publication_date": "2022-05-25", "online_date": "2022-05-04", "arxiv_date": "", "authors": [ "Xin Zhou", "Xiangyong Wen", "Zhepei Wang", "Yuman Gao", "Haojia Li", "Qianhao Wang", "Tiankai Yang", "Haojian Lu", "Yanjun Cao", "Chao Xu", "Fei Gao" ], "venue": "Science Robotics", "doi": "10.1126/scirobotics.abm5954", "status": "正式发表", "tier": 1, "theme": "规划与避碰", "kind": "无人机系统", "summary_zh": "针对未知、拥挤环境，将飞行效率、障碍规避、机间互避、动力学可行性和群体协调放入可实时求解的规划框架。通过联合调整轨迹空间形状与时间分配，使小型无人机在野外协同通行。", "contribution": "展示自主集群走出实验室的关键系统进展。", "limitation": "10 架野外演示不代表任意天气、任意规模、长期无故障或任务级商业成熟。", "evidence": "10 架无人机野外自主飞行", "version_note": "首次在线日期按 PubMed 的 2022-05-04；Crossref 的 2022-05-25 为期次日期，不混用。", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1126/scirobotics.abm5954" }, { "label": "补充核验来源", "url": "https://pubmed.ncbi.nlm.nih.gov/35507682/" } ] }, { "id": "P46", "title": "Omni-swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarms", "title_zh": "Omni-Swarm：集群相对状态估计", "year": 2022, "publication_date": "2022-12", "online_date": "", "arxiv_date": "2021-03-06", "authors": [ "Hao Xu", "Yichen Zhang", "Boyu Zhou", "Luqi Wang", "Xinjie Yao", "Guotao Meng", "Shaojie Shen" ], "venue": "IEEE Transactions on Robotics", "doi": "10.1109/tro.2022.3182503", "status": "正式发表", "tier": 1, "theme": "协同感知与定位", "kind": "无人机系统", "summary_zh": "组合广视场双目视觉、惯性测量、超宽带测距、机间视觉跟踪和地图定位，在图优化框架中融合信息。面向无 GPS 场景，兼顾近距离相对精度、初始化和整体一致性。", "contribution": "回答“每架飞机如何知道同伴在哪里”。", "limitation": "厘米级结果对应论文实验条件；UWB、视场、遮挡和测量质量影响可用范围。", "evidence": "机载多传感器／多机实飞", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/tro.2022.3182503" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/2103.04131" } ] }, { "id": "P47", "title": "Swarm-LIO: Decentralized Swarm LiDAR-inertial Odometry", "title_zh": "Swarm-LIO：激光惯性集群里程计", "year": 2023, "publication_date": "2023-05-29", "online_date": "", "arxiv_date": "2022-09-14", "authors": [ "Fangcheng Zhu", "Yunfan Ren", "Fanze Kong", "Huajie Wu", "Siqi Liang", "Nan Chen", "Wei Xu", "Fu Zhang" ], "venue": "2023 IEEE International Conference on Robotics and Automation (ICRA)", "doi": "10.1109/icra48891.2023.10161355", "status": "正式发表", "tier": 2, "theme": "协同感知与定位", "kind": "无人机系统", "summary_zh": "结合激光雷达、惯性信息与对队友的检测跟踪，联合估计自身及其他飞机的相对状态。通过无线交换状态与相互观测，改善单机估计在暗光或局部退化环境中的局限。", "contribution": "体现多机协同感知可以提升定位，而不只是增加通信负担。", "limitation": "需要激光硬件、相互观测及通信；重量功耗和退化条件仍需评估。", "evidence": "真实多机定位实验", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/icra48891.2023.10161355" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/2209.06628" } ] }, { "id": "P50", "title": "Robust MADER: Decentralized and Asynchronous Multiagent Trajectory Planner Robust to Communication Delay", "title_zh": "RMADER：考虑通信时延的异步安全规划", "year": 2023, "publication_date": "2023-05-29", "online_date": "", "arxiv_date": "2022-09-27", "authors": [ "Kota Kondo", "Jesus Tordesillas", "Reinaldo Figueroa", "Juan Rached", "Joseph Merkel", "Parker C. Lusk", "Jonathan P. How" ], "venue": "2023 IEEE International Conference on Robotics and Automation (ICRA)", "doi": "10.1109/icra48891.2023.10161244", "status": "正式发表", "tier": 1, "theme": "通信与韧性", "kind": "无人机系统", "summary_zh": "在异步多机轨迹交换中加入延迟检查及分阶段发布机制，同时保留已承诺轨迹，处理邻机使用过期信息造成的冲突。通过仿真和硬件实验研究通信延迟下的互避。", "contribution": "把无线网络的不完美作为控制设计的一部分。", "limitation": "安全结论依赖明确的时延与执行假设；测试中全成功不等于任意网络永久安全。", "evidence": "理论／延迟注入仿真／实飞", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/icra48891.2023.10161244" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/2209.13667" }, { "label": "补充核验来源", "url": "https://github.com/mit-acl/rmader" } ] }, { "id": "P49", "title": "RACER: Rapid Collaborative Exploration With a Decentralized Multi-UAV System", "title_zh": "RACER：分布式多机协同探索", "year": 2023, "publication_date": "2023-06", "online_date": "", "arxiv_date": "2022-09-18", "authors": [ "Boyu Zhou", "Hao Xu", "Shaojie Shen" ], "venue": "IEEE Transactions on Robotics", "doi": "10.1109/tro.2023.3236945", "status": "正式发表", "tier": 1, "theme": "任务与探索", "kind": "无人机系统", "summary_zh": "用分层空间分解和成对交互分配区域，通过容量约束车辆路径问题平衡工作量并优化覆盖路径，再用分层规划实现快速探索。以异步、有限通信组织多架四旋翼。", "contribution": "从“飞在一起”进一步走向“分工更高效地完成任务”。", "limitation": "适合特定探索与地图模型；不能将多机加速外推到任意任务或完全断网。", "evidence": "真实多机协同探索／开源", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/tro.2023.3236945" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/2209.08533" }, { "label": "补充核验来源", "url": "https://github.com/Robotics-STAR-Lab/RACER" } ] }, { "id": "P54", "title": "Swarm-GPT: Combining Large Language Models with Safe Motion Planning for Robot Choreography Design", "title_zh": "Swarm-GPT：语言驱动的集群编舞原型", "year": 2023, "publication_date": "2023-12-02", "online_date": "", "arxiv_date": "2023-12-02", "authors": [ "Aoran Jiao", "Tanmay P. Patel", "Sanjmi Khurana", "Anna-Mariya Korol", "Lukas Brunke", "Vivek K. Adajania", "Utku Culha", "Siqi Zhou", "Angela P. Schoellig" ], "venue": "NeurIPS 2023 Robot Learning Workshop / arXiv", "doi": "", "status": "工作坊／预印本", "tier": 3, "theme": "学习与智能", "kind": "前沿样本", "summary_zh": "利用语言模型和音乐信息生成编舞航点，再由运动规划器处理轨迹可行性与碰撞要求，并允许通过再次提示修改结果。论文报告仿真到真实表演的迁移。", "contribution": "探索人类如何用自然语言表达群体任务。", "limitation": "2023 年原型与 2025 年同名近似论文作者不同；高层生成不能替代实时安全控制。", "evidence": "工作坊／预印本原型／真实表演", "version_note": "2023 年工作坊／预印本原型；与 P55 标题、作者均有差异，分别列示。", "sources": [ { "label": "正式论文／原摘要", "url": "https://arxiv.org/abs/2312.01059" }, { "label": "补充核验来源", "url": "https://www.robot-learning.ml/2023/files/paper45.pdf" } ] }, { "id": "P48", "title": "D2SLAM: Decentralized and Distributed Collaborative Visual-inertial SLAM System for Aerial Swarm", "title_zh": "D²SLAM：分布式协同视觉惯性 SLAM", "year": 2024, "publication_date": "2024", "online_date": "", "arxiv_date": "2022-11-03", "authors": [ "Hao Xu", "Peize Liu", "Xinyi Chen", "Shaojie Shen" ], "venue": "IEEE Transactions on Robotics", "doi": "10.1109/tro.2024.3422003", "status": "正式发表", "tier": 2, "theme": "协同感知与定位", "kind": "无人机系统", "summary_zh": "区分近场精确相对估计与远场全局轨迹一致性，利用可适配双目或全向相机的前端及分布式优化构建协同 SLAM。重点提升近距离合作需要的相对定位质量。", "contribution": "把相对定位与长期地图一致性纳入统一系统。", "limitation": "数据关联、回环、网络延迟和视觉条件仍是实际边界。", "evidence": "多机实测／分布式估计", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/tro.2024.3422003" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/2211.01538" } ] }, { "id": "P63", "title": "Collision Avoidance and Navigation for a Quadrotor Swarm Using End-to-end Deep Reinforcement Learning", "title_zh": "障碍环境中的端到端集群强化学习", "year": 2024, "publication_date": "2024", "online_date": "", "arxiv_date": "2023-09-23", "authors": [ "Zhehui Huang", "Zhaojing Yang", "Rahul Krupani", "Baskın Şenbaşlar", "Sumeet Batra", "Gaurav S. Sukhatme" ], "venue": "ICRA 2024（arXiv 页面确认接收）", "doi": "", "status": "会议接收已核对", "tier": 2, "theme": "学习与智能", "kind": "无人机系统", "summary_zh": "通过课程学习、困难碰撞片段重放和注意力机制，使局部策略同时处理邻机与障碍，并迁移到算力受限的真实四旋翼。论文明确区分不同规模和障碍密度下的仿真及实飞结果。", "contribution": "把学习集群从空旷场景推进到有障碍场景。", "limitation": "32 机、80% 障碍密度为仿真；8 机、20% 障碍密度为实测，不能交叉拼接。", "evidence": "32 机仿真／8 机实飞", "version_note": "项目页旧题名较长；本条采用 arXiv 修订题名，页面注明 ICRA 2024 接收。", "sources": [ { "label": "正式论文／原摘要", "url": "https://arxiv.org/abs/2309.13285" }, { "label": "补充核验来源", "url": "https://sites.google.com/view/obst-avoid-swarm-rl" } ] }, { "id": "P52", "title": "Swarm-SLAM: Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems", "title_zh": "Swarm-SLAM：稀疏协同建图框架", "year": 2024, "publication_date": "2024-01", "online_date": "", "arxiv_date": "2023-01-16", "authors": [ "Pierre-Yves Lajoie", "Giovanni Beltrame" ], "venue": "IEEE Robotics and Automation Letters", "doi": "10.1109/lra.2023.3333742", "status": "正式发表", "tier": 3, "theme": "协同感知与定位", "kind": "通用机器人方法", "summary_zh": "提供可扩展、分布式的多机器人协同 SLAM，围绕稀疏信息交换降低通信与计算负担，并提供开放实现。强调支持不同机器人与传感器配置。", "contribution": "把协同定位从单一演示扩展为可复用基础设施。", "limitation": "通用多机器人框架；不是针对无人机高速编队的完整感知控制闭环。", "evidence": "通用多机器人系统／开源", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/lra.2023.3333742" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/2301.06230" } ] }, { "id": "P70", "title": "Fast Swarming of UAVs in GNSS-denied Feature-Poor Environments without Explicit Communication", "title_zh": "弱纹理环境中无需显式通信的快速群集", "year": 2024, "publication_date": "2024-06", "online_date": "", "arxiv_date": "", "authors": [ "Jiří Horyna", "Vít Krátký", "Václav Pritzl", "Tomáš Báča", "Eliseo Ferrante", "Martin Saska" ], "venue": "IEEE Robotics and Automation Letters", "doi": "10.1109/lra.2024.3390596", "status": "正式发表", "tier": 2, "theme": "协同感知与定位", "kind": "无人机系统", "summary_zh": "用邻域模型和多机器人状态估计改善机间感知及控制，抑制高速集体运动中常见的振荡。进一步通过估计原本需要交换的状态，减少对通信网络的依赖，并开展真实飞行实验。", "contribution": "将相对感知、估计和控制闭环作为整体优化。", "limitation": "无显式通信不等于不需要感知、可观测性和特定传感配置；硬件极限与场景条件仍然存在。", "evidence": "真实多机飞行／无显式通信版本", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/lra.2024.3390596" }, { "label": "补充核验来源", "url": "https://arxiv.org/abs/2404.18729" } ] }, { "id": "P56", "title": "Advancement Challenges in UAV Swarm Formation Control: A Comprehensive Review", "title_zh": "无人机编队控制的进展与挑战综述", "year": 2024, "publication_date": "2024-07-12", "online_date": "2024-07-12", "arxiv_date": "", "authors": [ "Yajun Bu", "Ye Yan", "Yueneng Yang" ], "venue": "Drones", "doi": "10.3390/drones8070320", "status": "正式发表", "tier": 3, "theme": "系统综述", "kind": "综述", "summary_zh": "比较领导者跟随、虚拟结构、行为规则、共识、势场以及神经网络和强化学习等方法，梳理不同路线的优势与限制，并讨论传统控制与学习结合的需求。", "contribution": "用于补充术语和查找方法分支。", "limitation": "叙述性综述；不能依据其描述直接作客观技术排名或投资结论。", "evidence": "综述", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.3390/drones8070320" } ] }, { "id": "P53", "title": "Primitive-Swarm: An Ultra-lightweight and Scalable Planner for Large-scale Aerial Swarms", "title_zh": "Primitive-Swarm：面向规模的轻量规划", "year": 2025, "publication_date": "2025", "online_date": "", "arxiv_date": "2025-02-24", "authors": [ "Jialiang Hou", "Xin Zhou", "Neng Pan", "Ang Li", "Yuxiang Guan", "Chao Xu", "Zhongxue Gan", "Fei Gao" ], "venue": "IEEE Transactions on Robotics", "doi": "10.1109/tro.2025.3573667", "status": "正式发表", "tier": 1, "theme": "规划与避碰", "kind": "无人机系统", "summary_zh": "离线构建动力学可行的运动基元及冲突关联信息，在线通过快速检查和选择产生轨迹，以降低反复非线性优化的成本。采用分布式、异步重规划，兼顾机器人与障碍的时空冲突。", "contribution": "把规划效率、机载算力和规模扩展放在一起考虑。", "limitation": "论文的 1000 机器人结果是仿真；小于 1 毫秒是特定基准，不能当作任意硬件的保证。", "evidence": "大规模仿真／真实多机实验／开源", "version_note": "2025 年 T-RO 正式发表；不是仅有预印本。", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/tro.2025.3573667" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/2502.16887" }, { "label": "补充核验来源", "url": "https://github.com/ZJU-FAST-Lab/Primitive-Planner" } ] }, { "id": "P61", "title": "Learning vision-based agile flight via differentiable physics", "title_zh": "用可微物理学习视觉高速飞行", "year": 2025, "publication_date": "2025-06-16", "online_date": "2025-06-16", "arxiv_date": "", "authors": [ "Yuang Zhang", "Yu Hu", "Yunlong Song", "Danping Zou", "Weiyao Lin" ], "venue": "Nature Machine Intelligence", "doi": "10.1038/s42256-025-01048-0", "status": "正式发表", "tier": 1, "theme": "学习与智能", "kind": "无人机系统", "summary_zh": "通过可微分仿真把损失梯度传回控制策略，结合简单物理模型训练端到端视觉导航。论文分别展示多机无需显式通信的自组织运动，以及单机在复杂环境中的高速飞行。", "contribution": "将训练效率、低成本机载计算和视觉自主连接起来。", "limitation": "20 米／秒属于单机野外结果，不能写成同等速度的大规模集群；无显式通信仍需视觉感知同伴。", "evidence": "多机实验＋单机野外高速实验", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1038/s42256-025-01048-0" }, { "label": "补充核验来源", "url": "https://www.nature.com/articles/s42256-025-01048-0" } ] }, { "id": "P58", "title": "Decentralised, Self-Organising Drone Swarms using Coupled Oscillators", "title_zh": "用耦合振荡器组织自发群集", "year": 2025, "publication_date": "2025-06-17", "online_date": "", "arxiv_date": "2025-05-01", "authors": [ "Kevin Quinn", "Cormac Molloy", "Harun Šiljak" ], "venue": "2025 8th International Balkan Conference on Communications and Networking (Balkancom)", "doi": "10.1109/balkancom65827.2025.11185990", "status": "正式发表", "tier": 3, "theme": "群集与一致性", "kind": "前沿样本", "summary_zh": "把同步与协调问题建模为耦合振荡器交互，研究个体数量变化时的群体组织、通信干扰和信号平滑。提供区别于固定队形脚本的协调思路。", "contribution": "可作为自组织与同步方法的近期延伸阅读。", "limitation": "不能从摘要判定大规模真实飞行成熟度；本图谱不把它列为公认里程碑。", "evidence": "会议论文／具体实机规模待全文复核", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/balkancom65827.2025.11185990" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/2505.00442" } ] }, { "id": "P57", "title": "AirSwarm: Enabling Cost-Effective Multi-UAV Research with COTS drones", "title_zh": "AirSwarm：低成本商用无人机研究平台", "year": 2025, "publication_date": "2025-10-19", "online_date": "", "arxiv_date": "2025-03-10", "authors": [ "Xiaowei Li", "Kuan Xu", "Fen Liu", "Ruofei Bai", "Shenghai Yuan", "Lihua Xie" ], "venue": "2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)", "doi": "10.1109/iros60139.2025.11246032", "status": "正式发表", "tier": 3, "theme": "动力学与平台", "kind": "前沿样本", "summary_zh": "针对研究与教学门槛，利用现成商用无人机、层次控制、视觉 SLAM 和 ROS 软件框架组织多机实验。论文报告编队与轨迹跟踪等验证，强调减少对昂贵定制硬件及外部定位的依赖。", "contribution": "把“低成本、可维护、可教学”作为系统研究目标。", "limitation": "商用平台接口、机载能力与估计位置需逐项核对；低成本不等于野外性能已成熟。", "evidence": "研究平台／多机实验", "version_note": "", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/iros60139.2025.11246032" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/2503.06890" } ] }, { "id": "P55", "title": "SwarmGPT: Combining Large Language Models With Safe Motion Planning for Drone Swarm Choreography", "title_zh": "SwarmGPT：语言生成与安全规划分层", "year": 2025, "publication_date": "2025-11", "online_date": "", "arxiv_date": "", "authors": [ "Martin Schuck", "Dinushka Orrin Dahanaggamaarachchi", "Ben Sprenger", "Vedant Vyas", "Siqi Zhou", "Angela P. Schoellig" ], "venue": "IEEE Robotics and Automation Letters", "doi": "10.1109/lra.2025.3619745", "status": "正式发表", "tier": 3, "theme": "学习与智能", "kind": "无人机系统", "summary_zh": "让语言模型负责高层编舞设计，安全过滤器在约束不满足时进行修正；用户可用自然语言迭代修改动作。研究包含较大规模仿真及多机实际编舞。", "contribution": "给基础模型进入机器人系统提供可审查的分层结构。", "limitation": "200 架为仿真、最多 20 架为实飞；编舞成功并不证明开放环境自主协作能力。", "evidence": "200 机仿真／最多 20 机实飞", "version_note": "2025 年 RA-L 论文；不要将本条作者列表套给 2023 年 Swarm-GPT。", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/lra.2025.3619745" }, { "label": "补充核验来源", "url": "https://www.dynsyslab.org/research/publications/" } ] }, { "id": "P60", "title": "Market-Based Replanning for Safety-Critical UAV Swarms in Search and Rescue Missions", "title_zh": "故障后的市场式任务重分配", "year": 2026, "publication_date": "2026-05-25", "online_date": "", "arxiv_date": "2026-06-01", "authors": [ "Luiz Giacomossi", "Andrea Haglund", "Claire Namatovu", "Emily Zainali", "Esaias Målqvist", "Yonatan M. Beyene", "Ivan Tomasic", "Baran Curüklü", "Håkan Forsberg" ], "venue": "2026 49th MIPRO ICT and Electronics Convention (MIPRO)", "doi": "10.1109/mipro70003.2026.11592002", "status": "正式发表", "tier": 3, "theme": "任务与探索", "kind": "前沿样本", "summary_zh": "以搜索救援为背景，结合反向拍卖与几何共识，使剩余机器人接管失效机器人的区域任务。在物理仿真中注入随机故障，评估任务持续完成能力。", "contribution": "把“损失个体后继续工作”变成可测量目标。", "limitation": "8 个体仿真；93% 成功率对应特定故障和任务设置，非真实救援能力保证。", "evidence": "MIPRO 2026／故障注入仿真", "version_note": "arXiv 页面说明 accepted at MIPRO 2026，Crossref 有对应会议 DOI。", "sources": [ { "label": "正式论文／原摘要", "url": "https://doi.org/10.1109/mipro70003.2026.11592002" }, { "label": "作者自存版／arXiv", "url": "https://arxiv.org/abs/2606.01970" } ] }, { "id": "P62", "title": "SwarmNxt: Open-source Software-Hardware Platform for Fast and Agile Aerial Swarms", "title_zh": "SwarmNxt：开放的集群软硬件平台", "year": 2026, "publication_date": "2026-09-10", "online_date": "", "arxiv_date": "2026-09-10", "authors": [ "Charbel Toumieh", "Niel Mistry", "Benjamin Jarvis", "Simon Jeger", "Peize Liu", "Shaojie Shen", "Dario Floreano" ], "venue": "arXiv", "doi": "", "status": "预印本", "tier": 3, "theme": "动力学与平台", "kind": "前沿样本", "summary_zh": "在 OmniNxt 硬件上整合 ROS 2、规划、控制和深度估计，并提供装配、批量部署及更新工具。用六机互避和四机障碍环境飞行演示平台。", "contribution": "近期研究开始把集群工程部署本身作为主要贡献。", "limitation": "2026 年预印本；两组实验都在室内使用外部动捕提供全局位置，不能称完全无外部定位。", "evidence": "6 机／4 机室内动捕实验", "version_note": "截至检索日只核实到 arXiv 预印本，未确认正式接收。", "sources": [ { "label": "正式论文／原摘要", "url": "https://arxiv.org/abs/2609.11382" } ] }, { "id": "P59", "title": "Calibrate Once, Fly Any Team: Residual-Grounded Low-Fidelity Training for Cooperative Drone Swarms", "title_zh": "低保真训练与残差校准", "year": 2026, "publication_date": "2026-09-15", "online_date": "", "arxiv_date": "2026-09-15", "authors": [ "Maxim Mednikov", "Oren Gal" ], "venue": "arXiv", "doi": "", "status": "预印本", "tier": 3, "theme": "学习与智能", "kind": "前沿样本", "summary_zh": "提出混合保真训练方案：先用高保真仿真中的单机数据校准残差模型，再在可微低保真仿真中训练共享策略。以不同任务和 3—18 个体规模比较训练成本与性能。", "contribution": "研究如何降低多智能体策略训练成本。", "limitation": "2026 年预印本；所谓校准飞行发生于高保真仿真，不是已验证的真实试飞。", "evidence": "仅仿真／预印本", "version_note": "截至检索日只核实到 arXiv 预印本，未确认正式接收。", "sources": [ { "label": "正式论文／原摘要", "url": "https://arxiv.org/abs/2609.17265" } ] } ]