Evolving autonomous specialization in congested path formation task of robotic swarms
Evolving autonomous specialization in congested path formation task of robotic swarms
复制标题
机器人群拥挤路径形成任务中不断发展的自主专业化
DOI：
10.1007/s10015-018-0483-5
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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：
Hiraga Motoaki;Wei Yufei;Yasuda Toshiyuki;Ohkura Kazuhiro
机器人数量的冗余是机器人群的一个基本特征，以赋予鲁棒性，灵活性和可扩展性。然而，在多个机器人聚集在空间有限的环境中的情况下，机器人往往会相互干扰。本文的目的是了解机器人群体如何制定一个有效的策略来管理拥堵。机器人的控制器是通过进化机器人方法获得的。在机器人交替访问两个地标的集体路径生成过程中观察到的管理拥塞的策略。机器人群体表现出自主专业化，在路径内移动的机器人激活LED，而在外侧的机器人停用它们。我们发现，拥塞是由人工进化的结果，在一个自发的专业化的紧急方式进行调节。
Redundancy in the number of robots is a fundamental feature of robotic swarms to confer robustness, flexibility, and scalability. However, robots tend to interfere with each other in a case, where multiple robots gather in a spatially limited environment. The aim of this paper is to understand how a robotic swarm develops an effective strategy to manage congestion. The controllers of the robots are obtained by an evolutionary robotics approach. The strategy of managing congestion is observed in the process of generating a collective path of robots visiting two landmarks alternately. The robotic swarm exhibits autonomous specialization that the robots traveling inside the path activate the LEDs, while the robots in the outer side deactivate them. We found that the congestion is regulated in an emergent way of autonomous specialization by the result of an artificial evolution.
避免机器人群导航时出现目标拥堵
影响因子：
3.5
作者：
L. Marcolino;Yuri Tavares dos Passos;Álvaro Antônio Fonseca de Souza;Andersoney dos Santos Rodrigues;L. Chaimowicz
通讯作者：
L. Chaimowicz