動的再構成可能ロボットシステムに関する研究 : 第7報, ネットワークのエネルギー評価方法に基づくマスタ・セル決定法

概要

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In this paper, we propose a master cell for "Cellular Robotics (CEBOT)" as a director to decide CEBOT's activities. Since the CEBOT system can be considered to be one of the intelligent network systems, we determine the master cell of the system based on network energy estimation method (NEEM) between cells. Then, we describe both a method of "mastering", which implies the determination of a master cell, and a method of "mastering" by local energy-sensitive estimation (LESE) as a method of determining the master cell. LESE is based on local network energy only considered for cells adjacent to the cell. In this paper, we assume that the CEBOT structure is a binary tree structure because the CEBOT employs the hierarchical structure for control and communication. The master cell is difined as a window for users and as an information propagation source for the CEBOT. We can derive this network energy from both the transition probability matrix led by the communication transition probability and the stationary distribution vector. We also propose the connection load matrix to consider the channel capacity between cells. Simulation results of "mastering" both by NEEM and by LESE are shown in this paper.
社団法人日本機械学会の論文
1991-05-25