标题： 去中心化、自组织的无人机集群使用耦合振荡器 显示英文标题

标题： Decentralised, Self-Organising Drone Swarms using Coupled Oscillators

摘要： 机器人同步和协调问题是一个长期存在的问题。将自主的计算机系统与不可预测的现实世界条件相结合，可能会导致从性能不佳到碰撞和损坏的各种后果。本文提出使用耦合振荡器来创建一个去中心化且自我组织的无人机蜂群。这比硬编码的蜂群提供了更大的灵活性和适应性，并且比中心化系统具有更强的弹性和可扩展性。我们的方法允许一定数量的无人机自发形成蜂群并对不断变化的蜂群条件做出反应。此外，该方法还包括预防无人机之间通信干扰的规定以及信号处理技术，以确保蜂群平稳且协调一致。 显示英文摘要

摘要： The problem of robotic synchronisation and coordination is a long-standing one. Combining autonomous, computerised systems with unpredictable real-world conditions can have consequences ranging from poor performance to collisions and damage. This paper proposes using coupled oscillators to create a drone swarm that is decentralised and self organising. This allows for greater flexibility and adaptiveness than a hard-coded swarm, with more resilience and scalability than a centralised system. Our method allows for a variable number of drones to spontaneously form a swarm and react to changing swarm conditions. Additionally, this method includes provisions to prevent communication interference between drones, and signal processing techniques to ensure a smooth and cohesive swarm.