Homogeneous swarm robots are of significant research interest due to their robustness, flexibility, and scalability in completing complex tasks across various applications. This article focuses on trapping heterogeneous targets using swarm robots, with emphasis on their different strengths. These targets consist of weak, strong, and group-moving individuals, where stronger targets exhibit larger body size, higher physical strength, and stronger resistance ability. Our goal is to develop an adaptive controller that enables swarm robots to self-organize and distribute themselves to trap targets, while adjusting encirclement thickness and robot group size based on target strength. We leverage local implicit information generated from density-based interaction to improve interrobot and robot–target interactions through adaptive allocation and transformation mechanisms. The feasibility of our approach is validated through numerical simulations and experiments involving up to 50 physical robots and one human-controlled transformer.

中文翻译：

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使用基于自适应密度的交互的群体机器人捕获异构目标

同质群体机器人由于其在完成各种应用中的复杂任务方面的鲁棒性、灵活性和可扩展性而引起了重大的研究兴趣。本文重点介绍使用群体机器人捕获异质目标，重点介绍它们的不同优势。这些目标由弱者、强者和群体移动个体组成，其中强者表现出体型更大、体力更强、抵抗能力更强。我们的目标是开发一种自适应控制器，使群体机器人能够自组织并分布到陷阱目标，同时根据目标强度调整包围圈厚度和机器人群体规模。我们利用基于密度的交互生成的局部隐式信息，通过自适应分配和转换机制来改善机器人间和机器人与目标的交互。我们的方法的可行性通过涉及多达 50 个物理机器人和一台人工控制变压器的数值模拟和实验得到了验证。