Collective phototactic robotectonics
Collective phototactic robotectonics
复制标题
集体趋光机器人构造
DOI：
10.48550/arxiv.2208.12373
复制
发表时间：
2022
期刊：
影响因子：
--
通讯作者：
L. Mahadevan
中科院分区：
文献类型：
--
作者：
F. Giardina;Ganga Prasath;L. Mahadevan
合作任务执行，eusociality的一个标志，是通过一个动态演变的通信信号，代理和环境之间的本地交互。受社会昆虫的集体行为的启发，其动力学是由与环境的相互作用调制的，我们表明，机器人集体可以通过捕获不稳定性和合作建立有组织的结构，成功地核建筑工地。同一机器人集体也可以通过行为参数的简单改变来执行解构。这些行为属于一个二维相空间的合作行为所定义的主体-主体相互作用（合作）沿沿着和主体-环境相互作用（收集和沉积）的其他。我们的基于行为的机器人设计方法与本地规则的原则推导相结合，使集体能够解决任务，对动态变化的环境和丰富的复杂行为具有鲁棒性。
Cooperative task execution, a hallmark of eusociality, is enabled by local interactions between the agents and the environment through a dynamically evolving communication signal. Inspired by the collective behavior of social insects whose dynamics is modulated by interactions with the environment, we show that a robot collective can successfully nucleate a construction site via a trapping instability and cooperatively build organized structures. The same robot collective can also perform de-construction with a simple change in the behavioral parameter. These behaviors belong to a two-dimensional phase space of cooperative behaviors defined by agent-agent interaction (cooperation) along one axis and the agent-environment interaction (collection and deposition) on the other. Our behavior-based approach to robot design combined with a principled derivation of local rules enables the collective to solve tasks with robustness to a dynamically changing environment and a wealth of complex behaviors.
DOI：
10.1103/physreve.84.041924
发表时间：
2011
期刊：
Physical review. E, Statistical, nonlinear, and soft matter physics
影响因子：
--
作者：
J. Taktikos;V. Zaburdaev;H. Stark
通讯作者：
H. Stark