Distributed traction control

A vehicle includes an omni-directional drive system configured to provide motion of the vehicle, where the omni-directional drive system has a plurality of omni-directional drive devices, where each of the plurality of omni-directional drive devices has a decentralized computing device and an associated actuator configured to provide a motion contribution to the motion. The vehicle includes a control device for providing control commands to the omnidirectional drive system, the control commands including instructions for performing the motion. Each of the decentralized computing devices is configured to determine a setpoint motion of the vehicle, and from the setpoint motion, determine activation of an associated actuator contributing to the setpoint motion, and determine and correct for a deviation. 一种载运工具包括被配置为提供载运工具的运动的全向驱动系统，其中，全向驱动系统具有多个全向驱动设备，其中，多个全向驱动设备中的每一个具有分散式计算设备和关联致动器，该关联致动器被配置为提供针对运动的运动贡献。该载运工具包括用于向全向驱动系统提供控制命令的控制设备，该控制命令包括用于执行运动的指令。分散式计算设备中的每一个被配置为：确定载运工具的设定点运动，并且根据设定点运动来确定关联致动器对设定点运动贡献的激活，以及确定并