Santos María, Notomista Gennaro, Mayya Siddharth, Egerstedt Magnus
School of Electrical and Computer Engineering, Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, United States.
School of Mechanical Engineering, Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, United States.
Front Robot AI. 2020 Oct 14;7:580415. doi: 10.3389/frobt.2020.580415. eCollection 2020.
In this paper, we present a robotic painting system whereby a team of mobile robots equipped with different color paints create pictorial compositions by leaving trails of color as they move throughout a canvas. We envision this system to be used by an external user who can control the concentration of different colors over the painting by specifying density maps associated with the desired colors over the painting domain, which may vary over time. The robots distribute themselves according to such color densities by means of a heterogeneous distributed coverage control paradigm, whereby only those robots equipped with the appropriate paint will track the corresponding color density function. The painting composition therefore arises as the integration of the motion trajectories of the robots, which lay paint as they move throughout the canvas tracking the color density functions. The proposed interactive painting system is evaluated on a team of mobile robots. Different experimental setups in terms of paint capabilities given to the robots highlight the effects and benefits of considering heterogeneous teams when the painting resources are limited.
在本文中，我们展示了一种机器人绘画系统，通过该系统，一组配备不同颜色颜料的移动机器人在画布上移动时留下颜色轨迹，从而创作出绘画作品。我们设想该系统可供外部用户使用，该用户可以通过指定与绘画区域中所需颜色相关的密度图来控制绘画中不同颜色的浓度，该密度图可能随时间变化。机器人通过异构分布式覆盖控制范式根据此类颜色密度进行自我分布，据此只有那些配备了适当颜料的机器人会跟踪相应的颜色密度函数。因此，绘画作品是机器人运动轨迹的整合结果，这些机器人在画布上移动时会根据颜色密度函数留下颜料。我们在一组移动机器人上对所提出的交互式绘画系统进行了评估。就赋予机器人的绘画能力而言，不同的实验设置突出了在绘画资源有限时考虑异构团队的效果和益处。
