Generating and analyzing hierarchical interaction in a flock of robotic swarms
Generating and analyzing hierarchical interaction in a flock of robotic swarms
复制标题
生成和分析一群机器人群中的分层交互
DOI：
10.1007/s10015-018-0485-3
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发表时间：
2018
影响因子：
0.9
通讯作者：
Ohkura Kazuhiro
中科院分区：
文献类型：
--
作者：
Yasuda Toshiyuki;Ohkura Kazuhiro
人工智能体自组织群集的流行方法之一是基于一个名为Boid的计算机动画模型。该模型使用三个简单的行为规则再现群集运动：排斥、吸引和对齐。但是，群集性能在很大程度上取决于这些规则的配置方式，并且对于配置没有通用的指导方针。本文介绍了层次互动为基础的群集雇用个人，可以转换他们的角色。机器人可以根据情况作为领导者或追随者移动。评估了群集性能，并分析了机器人在两个地标之间交替行进的情况下的群集行为。
One of the popular approaches for the self-organized flocking of artificial agents is based on a computer animation model called Boid. This model reproduces flocking motion using three simple behavioral rules: repulsion, attraction, and alignment. However, the flocking performance largely depends on how these rules are configured, and no general guideline exists for the configuration. This paper introduces hierarchical interaction-based flocking by employing individuals that can switch their roles. Robots can move as leaders or followers depending on the situation. The flocking performance is evaluated, and the swarming behavior is analyzed in a scenario where robots travel alternately between two landmarks.