動的再構成可能ロボットシステムに関する研究 : 第6報, 分散知能システムにおける知識の自己再配分の一方法

概要

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The cellular robotic system (CEBOT) has previously been proposed and studied by authors. CEBOT consists of many kinds of cell (subsystem), which has one basic function, its own knowledge base, and a database. CEBOT is one of the decentralized coordinated systems, so that CEBOT is a very flexible, fault tolerant, and expansible system. The decentralized coordinated system has been applied to many fields, such as computer architecture. In the decentralized coordinated system, an optimal knowledge allocation method is one of the most important problems because reasoning should be carried out with a lesser total amount of communication information among each sub system. However it is hard to calculate the amount of the total communication information during performing some tasks because of complexity and nonlinearity of the system strcture. In this paper, we propose some new matrices: knowledge based structure matrix and a task matrix which can describe various states of cell connection and knowledge allocation. By using these proposed matrices, the automatic knowledge allocation is performed effectively and the simulation results are also dealt with. The proposed knowledge allocation method based on decreasing the amount of the communication information has possible applications to many fields.
1991-04-25