Self-organized aggregation without computation
Self-organized aggregation without computation
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DOI：
10.1177/0278364914525244
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发表时间：
2014-07-01
影响因子：
9.2
通讯作者：
Gross, Roderich
中科院分区：
文献类型：
--
作者：
Gauci, Melvin;Chen, Jianing;Gross, Roderich
本文提出了一种无需算术计算的具身机器人自组织聚合问题的解决方案。这些机器人没有记忆，配备了一个二进制传感器，可以告诉它们是否有另一个机器人在它们的视线范围内。实验证明，传感器需要有足够长的距离；否则，无论使用何种控制器，都不能保证聚合。通过在所有可能的控制器空间上执行网格搜索来找到最优控制器。有了这个控制器，当机器人感知到另一个机器人时，它们就会原地旋转，否则就会沿着圆形轨迹向后移动。证明了该控制器总是在有限时间内聚集两个同时运动的机器人，并给出了其上界。仿真表明，该控制器还能将至少1000个机器人一致地聚集到一个集群中。此外，在40个物理e-puck机器人的30个实验中，98.6%的机器人聚集在一个集群中。所获得的结果对在传统传感和信息处理方法不再适用的情况下大规模实施多机器人系统具有深远的意义。
This paper presents a solution to the problem of self-organized aggregation of embodied robots that requires no arithmetic computation. The robots have no memory and are equipped with one binary sensor, which informs them whether or not there is another robot in their line of sight. It is proven that the sensor needs to have a sufficiently long range; otherwise aggregation cannot be guaranteed, irrespective of the controller used. The optimal controller is found by performing a grid search over the space of all possible controllers. With this controller, robots rotate on the spot when they perceive another robot, and move backwards along a circular trajectory otherwise. This controller is proven to always aggregate two simultaneously moving robots in finite time, an upper bound for which is provided. Simulations show that the controller also aggregates at least 1000 robots into a single cluster consistently. Moreover, in 30 experiments with 40 physical e-puck robots, 98.6% of the robots aggregated into one cluster. The results obtained have profound implications for the implementation of multi-robot systems at scales where conventional approaches to sensing and information processing are no longer applicable.