FORMATION CONTROL AND SWITCHING FOR MULTIPLE ROBOTS IN UNCERTAIN ENVIRONMENTS
Why this work is in the frame
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Bibliographic record
Abstract
A novel formation control and switching approach for multiple robots in uncertain environments is proposed in this paper. A formation parameter matrix is adopted to establish the relative relationship among the robots, and the formation control problem is converted into the tracking problem of the-off-axis point of the follower to the-off-axis point on the virtual robot, which has the same orientation as that of the leader and maintains a desired relative distance and desired observation angle with respect to the leader. The tracking control law is then designed. An obstacle avoidance strategy combined with formation switching is proposed to avoid collisions in the presence of obstacles, and a fault tolerance strategy is given to deal with the situations when some robots are broken. Simulation results are given to demonstrate the validity of the proposed approach.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it