论文标题
Chronos and CRS：设计类似小型汽车的机器人的设计，以及用于单个和多代理机器人技术和控制的软件框架
Chronos and CRS: Design of a miniature car-like robot and a software framework for single and multi-agent robotics and control
论文作者
论文摘要
从教育和研究的角度来看，关于硬件的实验是机器人技术和控制的关键方面。在过去的十年中，已经介绍了许多用于车轮机器人的开源硬件和软件框架，主要采用独轮车和类似汽车的机器人的形式，目的是使更广泛的受众访问机器人并支持控制系统开发。独轮车通常很小且便宜，因此有助于在较大的车队中进行实验，但它们不适合高速运动。类似汽车的机器人更敏捷，但是它们通常更大且更昂贵，因此需要更多的资源在空间和金钱方面。为了弥合这一差距，我们提出了Chronos，这是一种具有自定义开源电子设备的新型汽车的1/28比例机器人，以及CRS是用于控制和机器人技术的开源软件框架。 CRS软件框架包括实现各种最新算法，以进行控制，估计和多代理协调。通过这项工作，我们旨在更轻松地使用硬件，并减少启动新的教育和研究项目所需的工程时间。
From both an educational and research point of view, experiments on hardware are a key aspect of robotics and control. In the last decade, many open-source hardware and software frameworks for wheeled robots have been presented, mainly in the form of unicycles and car-like robots, with the goal of making robotics accessible to a wider audience and to support control systems development. Unicycles are usually small and inexpensive, and therefore facilitate experiments in a larger fleet, but they are not suited for high-speed motion. Car-like robots are more agile, but they are usually larger and more expensive, thus requiring more resources in terms of space and money. In order to bridge this gap, we present Chronos, a new car-like 1/28th scale robot with customized open-source electronics, and CRS, an open-source software framework for control and robotics. The CRS software framework includes the implementation of various state-of-the-art algorithms for control, estimation, and multi-agent coordination. With this work, we aim to provide easier access to hardware and reduce the engineering time needed to start new educational and research projects.
