平行机器人与平行无人系统:框架、结构、过程、平台及其应用

Parallel Robotics and Parallel Unmanned Systems:Framework,Structure,Process,Platform and Applications

本文将基于ACP(Artificial societies,computational experiments,parallel execution)的平行系统思想与机器人领域相结合,形成一种软硬件相结合的框架,为无人机、无人车、无人船在复杂环境中实验、学习与实际工作提供便捷、安全的平台,即平行无人系统.本文从平行机器人的基本概念出发,提出平行无人系统的基本框架,并介绍了各模块的基本功能与实现方法,探讨了其中的关键技术.然后本文围绕无人机、无人车、无人船三个方面展望了无人平行系统在实际中的应用和所面临的挑战,提出了平行无人系统的未来发展方向.

In this paper, we propose a framework to incorporate robotics and software-defined surrogates using the ACP- based parallel systems theory. The framework offers a flexible, cost-effective and safe platform to develop and conduct experiments on UAVs, UGVs, USVs and AUVs, and links unmanned vehicles with cyber-physical-social systems （CPSS）. This paper focuses on the structure of the proposed framework and each of the functional modules. Relevant tools, as well as further applications and challenges of the proposed system are also discussed.