Stabilizing Flocking Via Leader Election in Robot Networks
Stabilizing Flocking Via Leader Election in Robot Networks
复制标题
通过机器人网络中的领导者选举来稳定集群
DOI：
10.1007/978-3-540-76627-8_7
复制
发表时间：
2007
期刊：
影响因子：
--
通讯作者：
M. Potop
中科院分区：
文献类型：
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作者：
D. Canepa;M. Potop
羊群是一组机器人在飞机上移动时跟随领导者或头部的能力（二维笛卡尔空间）。在本文中，我们建议并证明纠正了自组织和稳定羊群系统的架构。与有关该主题的现有工作相反，我们的羊群体系结构并不依赖于网络中每个机器人所知道的特定领导者的存在。在我们的方法中，机器人是统一的，以任意配置开始，并且组的头部通过算法工具选举产生。
我们的贡献是三倍。首先，我们在有限的调度程序下提出了在异步环境中的领导者选举的新型概率解决方案。此外，当机器人没有共同的坐标并以任意配置开始时，我们证明了确定性领导者选举的不可能。其次，我们为专为异步网络设计的圆形形成提出了无冲突的确定性算法。第三，我们提出了一种完全独立于先验的领导者存在的确定性羊群算法。所提出的算法也可在异步网络中起作用。
Flocking is the ability of a group of robots to follow a leader or head whenever it moves in a plane (two dimensional Cartesian space). In this paper we propose and prove correct an architecture for a selforganizing and stabilizing flocking system. Contrary to the existing work on this topic our flocking architecture does not rely on the existence of a specific leader a priori known to every robot in the network. In our approach robots are uniform, start in an arbitrary configuration and the head of the group is elected via algorithmic tools.
Our contribution is threefold. First, we propose novel probabilistic solutions for leader election in asynchronous settings under bounded schedulers. Additionally, we prove the impossibility of deterministic leader election when robots have no common coordinates and start in an arbitrary configuration. Secondly, we propose a collision free deterministic algorithm for circle formation designed for asynchronous networks. Thirdly, we propose a deterministic flocking algorithm totally independent of the existence of an a priori known leader. The proposed algorithm also works in asynchronous networks.