A dynamic programming approach to robotic swarm navigation using relay markers
A dynamic programming approach to robotic swarm navigation using relay markers
复制标题
使用中继标记进行机器人群导航的动态编程方法
DOI：
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发表时间：
2003
期刊：
影响因子：
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通讯作者：
E. Barth
中科院分区：
文献类型：
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作者：
E. Barth
这项工作提出了一种基于动态规划的搜索和获取方法应用于机器人群体。该方法提供了本地的运动规则，坚持一个全球性的原则，通过使用固定的中继标记在一个未知的和复杂的环境中搜索和收敛到一个固定的目标群成员。通过在获取阶段期间充当成本的近似值，标记位置指导群的全局运动。这项工作提出了这些规则在搜索阶段，动态规划阶段，并获得阶段，坚持最优性的原则。通过对二维迷宫中群体定位静止目标的仿真，验证了该方法的有效性。
This work presents a dynamic programming based search and acquires method for application to robotic swarms. The method provides local rules of motion for swarm members that adhere to a global principle for both searching and converging on a stationary target in an unknown and complex environment via the use of immobile relay markers. By serving as approximations of the cost-to-go during the acquire phase, the marker locations direct the global motion of the swarm. This work presents those rules during a search phase, a dynamic programming phase, and an acquire phase which adhere to the principle of optimality. A simulation of a swarm locating a stationary target in a two-dimensional maze demonstrates the effectiveness of the method.