Efficient Multi-Foraging in Swarm Robotics
Efficient Multi-Foraging in Swarm Robotics
复制标题
群体机器人中的高效多次觅食
DOI：
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发表时间：
2007
期刊：
影响因子：
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通讯作者：
Alexandre Campo
中科院分区：
文献类型：
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作者：
Alexandre Campo
在正在研究的多觅食任务中，一组机器人必须有效地将两种不同类型的猎物检索到巢中。我们使用能量的概念来定义效率，即机器人离开巢穴探索环境时消耗的能量，以及成功将猎物带回巢穴时获得的能量。本研究的目的是确定有效的多重觅食行为的特征。我们设计并验证了一个用于预测最佳行为的数学模型。该模型使我们能够在绝对范围内评估一组机器人的性能。我们设计了一种决策算法，并在各种实验情况下研究其性能和适应性。该算法不仅考虑了遇到的猎物数量的信息，还考虑了遇到的机器人数量的信息，从而分配适当数量的机器人进行觅食，而剩余的机器人则在巢穴中休息并备用能量。
In the multi-foraging task under study, a group of robots has to efficiently retrieve two different types of prey to a nest. We define efficiency using a concept of energy that is spent by the robots when they leave the nest to explore the environment and gained when a prey is successfully retrieved to the nest. The goal of this study is to identify the characteristics of an efficient multi-foraging behaviour. We design and validate a mathematical model that is used to predict the optimal behaviour. This model allows us to evaluate the performance of a group of robots on an absolute scale. We design a decision algorithm and study its performance and adaptivity in a wide range of experimental situations. This algorithm takes into account information about the number of prey encountered but also about the number of robots encountered, so that a suitable number of robots are allocated to foraging while the remaining robots rest at the nest and spare energy.