Understanding the Behaviour of Reactive Robots in a Patrol Task by Analysing Their Trajectories
Understanding the Behaviour of Reactive Robots in a Patrol Task by Analysing Their Trajectories
复制标题
通过分析反应式机器人的轨迹来了解其在巡逻任务中的行为
DOI：
10.1109/wi-iat.2010.250
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发表时间：
2010
期刊：
影响因子：
--
通讯作者：
Einoshin Suzuki
中科院分区：
文献类型：
--
作者：
S. Kumar;Thach Huy Nguyen;Einoshin Suzuki
在本文中，我们提出了我们的轨迹分析，以理解反应机器人在巡逻任务中的行为。反应机器人被认为是智能体技术的主要应用之一，因此是该技术新挑战的主要资源之一。我们的4个真正的机器人，每个都配备了3个红外传感器和一个相同的控制器，任务是在一个由64个单元组成的封闭工作空间中巡逻。机器人的性能是通过巡逻率来衡量的，巡逻率本质上是在给定的时间间隔内至少有一个机器人访问细胞的平均率。我们测试了15种控制器，并试图通过分析头顶摄像机拍摄的轨迹来了解它们的行为。使用与集体任务相关的三个不同特征分析日志，从该分析中获得的推论与控制器的属性相关。我们相信，通过这一分析获得的见解将对反应式、分布式机器人和相关代理技术的从业者和研究人员有用。
In this paper, we present our analysis of trajectories for understanding the behaviour of reactive robots in a patrol task. Reactive robots are considered as one of the main applications of agent technologies and are hence one of the major resources of new challenges for the technologies. The task of our 4 real robots, each of which is equipped with 3 infrared sensors and an identical controller, is to patrol in a closed workspace composed of 64 cells. The performance of the robots is measured through a patrol rate, which is essentially the average rate of the cells visited by at least one robot in a given time interval. We test 15 kinds of controllers and try to understand their behaviours by analysing their trajectories filmed by an overhead camera. The logs are analysed using three different features which are relevant to the collective task and the inferences obtained from this analysis are related to the properties of the controllers. We believe that the insights obtained through this analysis would be useful for practitioners and researchers of reactive, distributed robots and related agent technologies.