Multi-robot Hunting Using Mobile Agents
Multi-robot Hunting Using Mobile Agents
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DOI：
10.1007/978-3-319-07650-8_23
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
Naoya Ishiwatari;Yasunobu Sumikawa;M. Takimoto;Y. Kambayashi
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文献类型：
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作者：
Naoya Ishiwatari;Yasunobu Sumikawa;M. Takimoto;Y. Kambayashi
多机器人狩猎问题是多机器人系统研究的热点问题之一。这个问题的目的是使用一个不可见的信号来搜索和捕获目标，通过这个信号，多机器人可以感知到到目标的距离。提出了一种基于移动代理的多机器人协同搜索目标的新方法。在该方法中，我们使用多个移动软件代理。移动代理通过迁移遍历移动机器人，同时收集目标的信息。由于每个机器人只需要与另一个机器人建立连接，以进行移动代理的迁移，因此我们的方法降低了系统的总通信成本。此外，移动智能体的迁移方式被限制在机器人摄像机的视野范围内，从而主要使目标周围的机器人处于活动状态，有助于抑制移动成本。我们为基于移动代理的狩猎系统实现了一个模拟器。通过在模拟器上的数值实验，验证了该方法的有效性。
Multi-robot hunting problem is one of the popular issues treated with multi-robot systems. The purpose of the problem is to search and capture a target using an invisible signal, through which the multirobots can sense the distance to the target. This paper proposes a new method in which the multiple robots cooperatively search for a target using mobile agents. In the method, we employ multiple mobile software agents. The mobile agents traverse mobile robots through migrations while collecting the information of the target. Since each robot just needs to establish a connection with another robot for migration of a mobile agent, our method reduces the total communication cost of the system. Also, the mobile agents’ migration manner is restricted within the view range of the camera of a robot, and thus mainly makes robots around the target active, which contributes to suppressing moving cost. We have implemented a simulator for the mobile agents based hunting system. We show the effectiveness of our method through numerical experiments on the simulator.