Dynamic redistribution of a swarm of robots among multiple sites
Dynamic redistribution of a swarm of robots among multiple sites
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一群机器人在多个站点之间动态重新分配
DOI：
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发表时间：
2007
期刊：
影响因子：
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通讯作者：
Vijay R. Kumar
中科院分区：
文献类型：
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作者：
Á. Halász;M. A. Hsieh;S. Berman;Vijay R. Kumar
我们提出了一种将大型同质机器人代理团队动态分配和重新分配给多个位置的方法，并提供了搜索和救援，侦察和勘探任务的应用。我们的工作灵感来自对蚂蚁房屋狩猎和经验模型的实验研究，这些研究预测了在多个候选巢之间选择的菌落的行为。我们设计了随机控制策略，使代理团队能够以指定比率在多个候选站点之间分配自己。此外，我们提出了模型的扩展，以通过基于法规感应的切换行为来启用快速收敛。分析了这些控制策略的稳定性和收敛特性，并提出了仿真结果。
We present an approach for the dynamic assignment and reassignment of a large team of homogeneous robotic agents to multiple locations with applications to search and rescue, reconnaissance and exploration missions. Our work is inspired by experimental studies of ant house hunting and empirical models that predict the behavior of the colony that is faced with a choice between multiple candidate nests. We design stochastic control policies that enable the team of agents to distribute themselves between multiple candidate sites in a specified ratio. Additionally, we present an extension to our model to enable fast convergence via switching behaviors based on quorum sensing. The stability and convergence properties of these control policies are analyzed and simulation results are presented.