Robotics paper index
A Prototyping Framework for Distributed Control of Multi-Robot Systems
One-line summary
The paper presents a framework for testing distributed control algorithms in multi-robot systems using a single computer simulation.
Engineering notes
This framework offers a cost-effective solution for engineers to prototype and test distributed algorithms before implementing them in hardware. Its scalability and ease of use make it an attractive tool for researchers and developers in robotics.
Chinese explanation / 中文解读
本文提出了一种用于多机器人系统分布式控制的原型框架，旨在弥合分布式优化算法的理论与实践测试之间的差距。该框架基于单程序、多数据（SPMD）范式，在单台计算机上模拟分布式控制，以支持低成本高效的算法验证。
Original abstract
This paper presents a prototyping framework for distributed control of multi-robot systems, aimed at bridging theory and practical testing of distributed optimization algorithms. Using the Single Program, Multiple Data (SPMD) paradigm, the framework emulates distributed control on a single computer, with each core running the same algorithm using local states and neighbour-to-neighbour communication. We demonstrate the framework on a four-quadrotor position-swapping task using a non-cooperative game-theoretic distributed algorithm. Computational time and trajectory data are compared across the supported dynamics levels: a point-mass model, a high-fidelity quadrotor model, and an experimental hardware testbed using Crazyflie quadcopters. The results show that the framework provides a low-cost and accessible approach for validating distributed algorithms.
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