泛在计算视角下的群智模块化机器人  

Emergence of crowd modular robotics:a ubiquitous computing perspective

作　　者：吴磊 郭斌[1,2] 徐若楠 刘思聪 丁亚三 党朝辉 Lei WU;Bin GUO;Ruonan XU;Sicong LIU;Yasan DING;Zhaohui DANG(School of Computer Science,Northwestern Polytechnical University,Xi'an 710129,China;Key Laboratory of the Ministry of Industry and Information Technology of Intelligent Sensing and Computing,Northwestern Polytechnical University,Xi'an 710129,China;National Key Laboratory of Aerospace Flight Dynamics,Northwestern Polytechnical University,Xi'an 710072,China)

机构地区：[1]西北工业大学计算机学院,西安710129 [2]智能感知与计算工业和信息化部重点实验室,西安710129 [3]航天飞行动力学技术国家级重点实验室,西安710072

出　　处：《中国科学：信息科学》2023年第11期2107-2151,共45页Scientia Sinica(Informationis)

基　　金：国家杰出青年科学基金(批准号:62025205);国家自然科学基金(批准号:62032020,62102317)资助项目。

摘　　要：模块化机器人具备鲁棒、低成本和多功能性等优势,近年来得到研究人员的广泛关注,并在多领域不断替代或拓展传统的单体机器人.随着模块化机器人技术的发展,以及其与泛在计算、群体智能等前沿技术的紧密融合,将不断拓展在太空探测、智能制造、灾难救援等领域的应用,成为人机物三元融合空间中无处不在的新型智能终端.本文基于泛在计算新视角,对近年来群智模块化机器人领域的工作进行了系统性研究,构建并拓展其概念空间体系,阐释其自重构、自组织、自适应、持续演化等六大关键技术及最新发展趋势,进而介绍其在典型领域的创新应用.最后,对群智模块化机器人的未来发展方向及开放性挑战进行了分析和展望.With the advantages of robustness,low cost,and versatility,modular robots have recently attracted widespread attention for replacing or expanding traditional monomer robots in various elds.The development of modular robot technology and its integration with other cutting-edge technologies,such as ubiquitous computing and crowd intelligence,will continue to expand its applications in elds including space exploration,intelligent manufacturing,disaster relief,and others.Hence,this technology can become a new type of intelligent terminal ubiquitous in the ternary integration space of humans,machines,and things.Based on the new perspective of ubiquitous computing,this paper systematically studies recent works in the eld of crowd modular robotics,constructs and expands its conceptual space system,explains its six key technologies and latest development trends,such as self-recon guration,self-organization,self-adaptation,and continuous evolution,and then introduces its innovative application in typical elds.Finally,we analyze and discuss the development directions and open challenges for crowd modular robotics.

关 键 词：模块化机器人 群体智能 泛在计算 自重构 自组织 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]