Self-assembly enables multi-robot systems to merge diverse capabilities and accomplish tasks beyond the reach of individual robots. Incorporating varied docking mechanisms layouts (DMLs) can enhance robot versatility or reduce costs. However, assembling multiple heterogeneous robots with diverse DMLs is still a research gap. This paper addresses this problem by introducing CuBoat, an omnidirectional unmanned surface vehicle (USV). CuBoat can be equipped with or without docking systems on its four sides to emulate heterogeneous robots. We implement a multi-robot system based on multiple CuBoats. To enhance maneuverability, a linear active disturbance rejection control (LADRC) scheme is proposed. Additionally, we present a generalized parallel self-assembly planning algorithm for efficient assembly among CuBoats with different DMLs. Validation is conducted through simulation within 2 scenarios across 4 distinct maps, demonstrating the performance of the self-assembly planning algorithm. Moreover, trajectory tracking tests confirm the effectiveness of the LADRC controller. Self-assembly experiments on 5 maps with different target structures affirm the algorithm's feasibility and generality. This study advances robotic self-assembly, enabling multi-robot systems to collaboratively tackle complex tasks beyond the capabilities of individual robots.

翻译：自组装使多机器人系统能够融合不同能力，完成单个机器人无法企及的任务。引入多样化的对接机构布局可增强机器人多功能性或降低成本。然而，如何组装具有不同对接机构布局的异构机器人仍是一个研究空白。本文通过提出CuBoat——一种全向无人水面艇来解决这一问题。CuBoat可在其四侧配备或不配备对接系统，以模拟异构机器人。我们基于多艘CuBoat实现了一个多机器人系统。为提升机动性，提出了一种线性自抗扰控制方案。此外，我们提出了一种通用的并行自组装规划算法，以实现不同对接机构布局的CuBoat之间的高效组装。通过在2种场景、4种不同地图下的仿真验证，展示了自组装规划算法的性能。轨迹跟踪测试进一步证实了线性自抗扰控制器的有效性。在5种不同目标结构地图上的自组装实验验证了算法的可行性与泛化性。本研究推动了机器人自组装技术的发展，使多机器人系统能够协同完成单个机器人无法解决的复杂任务。