空地协作机器人研究综述

A Review of Air-ground Collaborative Robots Research

空地协作是当今多智能体研究领域的热点,具有区域覆盖面广、环境适应性强、任务执行率高等特点。相比于单一智能体系统,多智能体协作突显出了更强的数据匹配、自由协同、更好的系统冗余程度等特点,在更多领域广泛应用。同时其充分利用异构多机器人的功能互补性,组成跨域协作系统,实现任务协同和信息共享,从本质上提升面对复杂环境和任务规划的感知能力、执行能力和运行效率。因此,多智能体的有机协调、跨域协作等将引领未来机器人技术与应用的新模式。从空地协同进行综述,即以无人驾驶车辆(unmanned ground vehicle,UGV)与无人机(unmanned aerial vehicle,UAV)协同为研究对象,分析了空地协同系统的设备类型,对空地协作的任务类型、衡量标准、面临环境、角色功能以及协作模式进行了描述,并探索在异构机器人平台下的感知、决策和任务执行等能力,提出了对当前可能改善空地协作系统的见解和未来可能面临的挑战。

Air-ground collaboration is a hot spot in the field of multi-intelligent research nowadays,which has characteristics of wide-area coverage,high environmental adaptability,and high task execution rate.Compared with a single-intelligent system,multi-intelligent collaboration highlights greater data matching,free collaboration,and a higher degree of system redundancy,which can be widely used in multiple domains.At the same time,the functional complementarity of heterogeneous multi-robot can be fully utilized to form a cross-domain collaborative system to implement task collaboration and information sharing,which essentially improves its perceptive capability,execution capability,and efficiency in the operation of a complex environment and task planning.Therefore,the organic coordination and cross-domain collaboration of multi-intelligent will lead to the new paradigm of future robotics and applications.This paper provides an overview of air-ground collaboration,i.e.,unmanned ground vehicle(UGV)and unmanned aerial vehicle(UAV)collaboration as the research targets,we analyze the device type of air-ground collaboration systems and describe the task types,metrics,environments faced,role functions and collaboration models of air-ground collaboration,while we explore the capabilities of sensing,decision-making,and task execution under heterogeneous robotic platforms,and provide insights into the current potential improvements and challenges of air-ground systems in the future.