Interaction of robot swarms using the honeybee-inspired control algorithm BEECLUST
Interaction of robot swarms using the honeybee-inspired control algorithm BEECLUST
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DOI：
10.1080/13873954.2011.601420
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发表时间：
2012-01-01
影响因子：
1.9
通讯作者：
Crailsheim, Karl
中科院分区：
文献类型：
--
作者：
Bodi, Michael;Thenius, Ronald;Crailsheim, Karl
在这项工作中，我们研究了如何强大的机器人群的行为对另一个机器人群所造成的干扰，都使用的BEECLUST算法，这是蜜蜂行为的启发。为了我们的研究，我们模拟了一个环境，环境照度，一个光点和一个阴影点。在这样的环境中，我们测试了两种不同种姓的Jasmine III机器人，而每种种姓都必须执行不同的任务。一个聚集在高照度的地方（亮点），另一个聚集在低照度的地方（阴影点）。我们表明，小群体人口可以受益于另一个机器人群的存在。中等人口的蜂群既不受正面影响，也不受负面影响。大的群体人口行为鲁棒性对其他机器人群所造成的干扰，只要没有干扰的影响发生。在这篇文章中，我们表明，BEECLUST算法提供了所有的功能，使集体决策。此外，我们还表明BEECLUST算法的鲁棒性使我们能够在需要不同控制器策略和群智能行为的环境中控制异构机器人群。
In this work we investigated how robust a robot swarm acts against disturbances caused by another robot swarm, both using the BEECLUST algorithm, which is inspired by honeybee behaviour. For our investigation we simulated an environment with an ambient illuminance, a light spot and a shadow spot. In such an environment we tested two different castes of Jasmine III robots whereas each caste had to perform a different task. One swarm aggregates at places of high illuminance (light spot) and the other one at places of low illuminance (shadow spot). We show that small swarm populations can benefit from the presence of another robot swarm. Medium populated swarms are affected neither positively nor negatively. Large swarm populations act robust against disturbances caused by other robot swarms as long as no jamming effects occur. In this article we show that the BEECLUST algorithm provides all features for making collective decisions. Furthermore we show that the robustness of the BEECLUST algorithm allows us to control a heterogeneous robot swarm in environments which demand differing controller strategies and swarm intelligent behaviour.