A fully decentralized approach for incremental perception
A fully decentralized approach for incremental perception
复制标题
一种完全去中心化的增量感知方法
DOI：
10.1145/1377868.1377881
复制
发表时间：
2007
期刊：
影响因子：
13.5
通讯作者：
B. Amavasai
中科院分区：
文献类型：
--
作者：
I. Mir;B. Amavasai
群体机器人领域仍处于起步阶段。为了实现构建大规模物理可控自主机器人群的未来目标，必须发明和开发基础层面的关键概念。在本文中，我们将群体机器人中增量感知的概念扩展到完全去中心化领域。我们的工作针对微型机器人群，其中机器人可用的硬件资源将是有限的。因此，去中心化系统变得不可避免，因为它不需要机器人代理、它们的监控系统或代理的通信机制的内部依赖；缺少所有这些因素会导致代理的硬件要求降低。我们关注机器人的合作行为，而不是依赖它们的个体能力。我们还提出了完全去中心化系统所需的参数和功能，并表明可以成功地对此类系统进行建模和分析。
The area of Swarm Robotics is still in its infancy. Key concepts at the basic level have to be invented and developed in order to achieve the future goal of building large scale physical and controllable autonomous robotic swarms. In this paper we extend the concept of Incremental Perception in swarm robotics into the domain of complete decentralization. Our work is aimed at micro-robotic swarms where the hardware resources available for the robots will be limited. Hence a decentralized system becomes inevitable because it does not require intra-dependence of robot agents, their monitoring system or a communication mechanism for the agents; absence of all these factors results in reduced hardware requirements for the agents. We focus on the co-operative behavior of robots rather than relying on their individual capabilities. We also propose the parameters and functions that are required for a completely decentralized system and show that such a system can be successfully modeled and analyzed.