Swarm Robotics - A Formal Approach
Swarm Robotics - A Formal Approach
复制标题
群体机器人 - 一种正式的方法
DOI：
10.1007/978-3-319-74528-2
复制
发表时间：
2018
期刊：
影响因子：
3.9
通讯作者：
Heiko Hamann
中科院分区：
文献类型：
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作者：
Heiko Hamann
我思考群体机器人的主要动机是这样一个问题：小型机器人的概率局部行为如何总结成群体所表现出的理性全局模式。对于工程师来说，它有可能让梦想成真，因为复杂的问题可以通过设计简单的协作组件来解决。对于科学家来说，它有可能帮助解释有关意识、人类社会和复杂性出现的重大问题。群机器人是一个成熟的领域，值得一本书完全致力于它。到目前为止，有许多有趣的书籍也治疗群体机器人除了其他科目，但还没有完全专门的书。作为一种资源，特别是对年轻的研究人员和学生来说，一本书似乎很重要。我正在努力填补这个空白。这本书讲述了设计最大可扩展和强大的机器人系统的故事，这对今天的方法论来说是一个挑战。因此，请加入我们的旅程，寻找更好、更新颖的方法来设计分散式机器人系统。像许多其他书籍一样，这本书有着相当长的起源历史。2013年，我开始在德国帕德博恩大学为计算机科学家教授一门非常特殊的硕士课程，名为“群机器人”。当我创建这门课程时，没有一本完整地教授群体机器人的书是特别令人伤心的。当然，也有一些书包含了与群体机器人相关的材料，比如Bonabeau等人关于群体智能的书。[48]肯尼迪和埃伯哈特[210]以及弗洛雷亚诺和马蒂乌西[122]关于生物启发人工智能的伟大著作。但是，它们并没有定义一个完整的课程。因此，我不得不经历任何教师在从头开始创建课程时必须做的事情：定义每个学生需要知道的最相关科目的标准，并创建所有教学材料。也许在那时，我已经想到写一本书可能有助于该领域，是一个合理的选择。当学生们拼命要求附带的阅读材料时，我不得不不断地告诉他们：“是的，这将是伟大的，但还没有人写过关于群体机器人的书。”所以我从2013年开始慢慢地开始了漫长的写作过程，在接下来的几年里，学生们一直在问我要那本书。年之间
My major motivation to think about swarm robotics is the question of how probabilistic local actions of small robots sum up to rational global patterns shown by the swarm. For the engineer, it has potential to let a dream come true because complex problems may be solved by designing simple collaborating components. For the scientist, it has potential to help explain grand questions about consciousness, human societies, and the emergence of complexity. Swarm robotics is a maturing field that deserves a book being dedicated to it completely. Until now there were many interesting books also treating swarm robotics besides other subjects, but there is no fully dedicated book yet. As a resource, especially for young researchers and students, a book seems important. I am trying to fill this gap. This book tells the story of designing maximally scalable and robust robot systems, which turns out to be challenging with today’s methodology. Therefore, join me on our journey to find better and novel approaches to designing decentralized robot systems.Like many other books, this one has a quite long history of origins. In 2013, I started to teach a quite special master’s course for computer scientists called “swarm robotics” at the University of Paderborn, Germany. When I was creating the course, it was particularly hurtful not to have a book that teaches swarm robotics in a complete piece. Of course, there are books that contain material relevant to swarm robotics, such as the books on swarm intelligence by Bonabeau et al.[48] and Kennedy and Eberhart [210] and the great book on bioinspired AI by Floreano and Mattiussi [122]. However, they do not define a complete curriculum. So I had to go through what any teacher has to do when creating a course from scratch: define a canon of the most relevant subjects that each student needs to know and create all the teaching material. Probably back then I already had in mind that writing a book may help the field and be a reasonable option. This was certainly confirmed when students were desperately asking for accompanying reading material and I had to keep telling them:“Yes, that would be great but nobody has yet written that book on swarm robotics.” So I started the long writing process slowly back in 2013 and students kept asking me for that book over the next years. In the years between