Coordination of Multi-Robot Systems

摘要

The multi-robot system is composed of a collection of two or more autonomous robots. The multi-robot system aims to create robust, flexible, and scalable approaches to collaborate with all robots. In multi-robot systems, robots work together to achieve several specific tasks. Although multi-robot systems provide wide applications such as path planning, cooperative localization, and dynamic task allocation, the research in the multi-robot system field is still developing. This paper analyzes previous research on multi-robot systems and divides multi-robot systems into two taxonomies. In the first taxonomy, we review the centralized multi-robot system. In the second taxonomy, we review the distributed multi-robot system. Then we analyze two typical algorithms (ant colony algorithm and particle swarm algorithm) applied to distributed multi-robot systems and compare the centralized systems with distributed systems in terms of characteristics and applications. We conclude by discussing the current limits and future research directions in the multi-robot system.