A duration based behavior analyze approach for swarm robotics system
A duration based behavior analyze approach for swarm robotics system
复制标题
群体机器人系统基于持续时间的行为分析方法
DOI：
10.1109/sice.2015.7285527
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
Toshiyuki Yasuda and Kazuhiro Ohkura
中科院分区：
文献类型：
--
作者：
Tian Yu;Toshiyuki Yasuda and Kazuhiro Ohkura
蜂群机器人是一种协调大量同质机器人的新方法，它的灵感来自群居昆虫。机器人控制器的设计方法是SRS研究早期受到关注的主要课题之一。另一方面，到目前为止，还没有发展出分析其集体行为的通用方法。本文提出了一种基于子群体行为序列持续时间的方法来分析群体机器人系统的子群体任务分配。该方法表明，SRS花了大部分时间寻找食物来源，100步以上的行为序列持续时间增加是人工进化的结果，这有助于我们从持续时间的角度理解亚群在食物觅食问题中的角色变化。
Swarm robotics is a new approach to the coordination of large numbers of homogeneous robots that takes inspiration from social insects. One of the major topics of SRS that have been getting attention from the early stage is the design methodology of robot controllers. On the other hand, no general methods for analyzing its collective behavior have been developed so far. In this paper, we propose a method based on the duration of subgroup's behavioral sequence for analyzing task allocation in subgroups of a swarm robotics system. The proposed method shows that SRS takes most of the time searching for food sources and the behavior sequences duration over 100 time steps increased as the result of artificial evolution, which helps us understand the role changing of subgroups in the food foraging problem from the view point of duration time.