動的再構成可能ロボットシステムに関する研究 : 第16報,情報の局所性と分散型遺伝アルゴリズムを用いた協調分散探索

概要

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This paper deals with a cooperative search in a distributed robotic system. In the process of the cooperative search in the distributed robotic system, we must consider that the local information and local knowledge are the same as the limitation of sensing range and communication range. Cooperative search is one of the important issues of distributed decision making in distributed artificial intelligence. In this paper, we present a distributed genetic algorithm with a supplement operation as a method of cooperative search. The distributed genetic algorithm is modified genetic algorithm in the distributed robotic system. The distributed search is carried out by the communication among autonomous robots. As an example of the cooperative search, we present a path planning for part collection in a cellular robotic system (CEBOT), which is one of the distributed robotic systems consisting of a large number of autonomous robotic units called "cells".
社団法人日本機械学会の論文
1993-12-25