Trophallaxis with predetermined energy threshold for enhanced performance in swarms of scavenger robots.
Trophallaxis with predetermined energy threshold for enhanced performance in swarms of scavenger robots.
复制标题
具有预定能量阈值的 Trophallaxis 可增强清道夫机器人群的性能。
DOI：
10.1007/s10015-018-0497-z
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发表时间：
2018
影响因子：
0.9
通讯作者：
F.,
中科院分区：
文献类型：
--
作者：
Moonjaita;C.;Philamore;H.;& Matsuno;F.,
我们提出了一个基于代理的模拟一组机器人，他们的能源从周围的环境。这些机器人从分布在周围环境中的本地资源中获取能量，并通过“互养”相互分享能量。我们通过考虑两种模型配置来研究能量传递过程中能量损失的影响。在第一种配置中，相邻的机器人对在每个时间步均等地共享它们的组合能量的总和，而不考虑每个机器人的能量水平。相比之下，在第二种配置中，只有供体和受体机器人平均了它们的能量。供体和受体的角色由预定的能量阈值定义。利用Levy步行行为提高觅食能力。结果表明，仿生trophaltlaze和Levy步行提高了清道夫机器人群体的性能。我们的研究结果表明，考虑到能量转移过程中的能量损失，预防特别有效。这表明我们的可能性trophaltaxis模型应用到真实的机器人系统中的能量损失发生在能量转移。
We present an agent-based simulation of a group of robots that source their energy from their surrounding environment. The robots forage their energy from localised sources, distributed in their surrounding environment and share energy with each other through “trophallaxis”. We investigate the effect of energy loss during energy transfer by considering two model configurations. In the first configuration, neighbouring pairs of robots shared the sum of their combined energy equally, at each time-step, without considering the energy levels of each robot. In contrast, in the second configuration, only donor and recipient robots averaged their energy. The roles of donor and recipient were defined by predetermined energy thresholds. Levy walk behaviour was employed to improve foraging ability. The results show that bio-inspired trophallaxis and Levy walk enhances the performance of the groups of scavenger robots. Our results indicate that trophallaxis is particularly effective considering energy loss during energy transfer. This suggests us the possibility to apply the trophallaxis models to the real robot systems where energy loss occurs during energy transfer.