论文标题
Swarmus：一个开放的硬件和软件在机器人开发的板载平台
SwarmUS: An open hardware and software on-board platform for swarm robotics development
论文作者
论文摘要
分布式群体机器人技术的现实生活实施很少见。通用机器人技术平台的标准化可以极大地加速群体机器人技术，以实现现实生活。 Swarmus平台是一种开源硬件和软件嵌入式系统，旨在将其添加到现有机器人中，同时为它们提供群体功能，从而在平台标准化问题上提出新的看法。这些功能包括基于超宽带的分布式相对定位系统，基于Wi-Fi的本地通信系统以及基于Swarmus平台内连接的机器人之间的嗡嗡声编程语言的分布式协调系统。此外，还提供了人与人之间的交互移动应用程序和在机器人操作系统（ROS）中平台的仿真。最后，对系统的实现进行了实现和测试，并在两种类型的机器人上进行了测试：Turtlebot3汉堡和两个先锋2DX。
Real life implementations of distributed swarm robotics are rare. The standardization of a general purpose swarm robotics platform could greatly accelerate swarm robotics towards real life implementations. The SwarmUS platform is an open-source hardware and software on-board embedded system designed to be added onto existing robots while providing them with swarm features, thus proposing a new take on the platform standardization problem. These features include a distributed relative localization system based on Ultra-Wideband, a local communication system based on Wi-Fi and a distributed coordination system based on the Buzz programming language between robots connected within a SwarmUS platform. Additionally, a human-swarm interaction mobile application and an emulation of the platform in the Robot Operating System (ROS) is presented. Finally, an implementation of the system was realized and tested on two types of robots : a TurtleBot3 Burger and two Pioneer 2DX.
