Modelling Swarm Robotic Systems : A Case Study in Collective Foraging
Modelling Swarm Robotic Systems : A Case Study in Collective Foraging
复制标题
群体机器人系统建模：集体觅食案例研究
DOI：
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发表时间：
2007
期刊：
影响因子：
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通讯作者：
Jin Sa
中科院分区：
文献类型：
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作者：
Wenguo Liu;A. Winfield;Jin Sa
了解群体机器人系统的集体性能，以设计和优化个人的机器人行为的个别参数的影响是一个重大的挑战。本文提出了一个群体觅食任务的概率模型。一些差分方程推导出描述的概率有限状态机的任务在宏观层面上。一个几何的方法，然后开发，以估计状态转移概率，考虑单个机器人的简单策略。利用仿真工具Player/Stage对数学模型进行了验证，结果表明该模型与仿真结果吻合较好。
Understanding the effect of individual parameters on the collective performance of swarm robotic systems in order to design and optimise individual robot behaviours is a significant challenge. This paper presents a probabilistic model of a swarm foraging task. A number of difference equations are derived to describe the probabilistic finite state machine for the task at a macroscopic level. A geometrical approach is then developed in order to estimate the state transition probabilities by considering the simple strategies of individual robots. The paper validates the mathematical model using the simulation tools Player/Stage, and results show the model achieves excellent agreement with simulation.