In social and industrial facilities of the future such as hospitals, hotels, and warehouses, teams of robots will be deployed to assist humans in accomplishing everyday tasks like object handling, transportation, or pickup and delivery operations. In such a context, different robots (e.g., mobile platforms, static manipulators, or mobile manipulators) with different actuation, manipulation, and perception capabilities must be coordinated to achieve various complex tasks (e.g., cooperative parts assembly in the automotive industry or loading and unloading of palettes in warehouses) that require collaborative actions with each other and with human operators (Figure 1).

中文翻译：

---

异构机器人代理的高效协作：去中心化框架


在未来的社会和工业设施中，如医院、酒店和仓库，将部署机器人团队来协助人类完成日常任务，如物体处理、运输或拾取和交付操作。在这样的背景下，必须协调具有不同致动、操纵和感知能力的不同机器人（例如，移动平台、静态机械手或移动机械手）以实现各种复杂的任务（例如，汽车行业中的协作零件组装或装载和装载）。仓库中托盘的卸载）需要彼此之间以及与人类操作员的协作操作（图 1）。