動的再構成可能ロボットシステムに関する研究 : 第20報,ユニット間の相互依存に基づく自律分散型ロボットシステムの階層化

概要

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This paper deals with the self-organization of a group of multiple robotic systems consisting of several or a number of autonomous robots, such as the Cellular Robotic System (CEBOT). In paticular, in this paper, we will present the self-organization of the hierarchical structure of the CEBOT as one of the decentralized autonomous robotic systems. The structural organization is simulated based on the idea of interdependence between autonomous robots, which is derived from the model of group organization of human beings. That is, groups are organized and leaders emerge from the interdependence of the individuals. Additionaley, an evaluation method for the hierarchical architecture is also discussed to evaluate the structure of the whole system. This paper will represent simulation results of self-organization of hierarchical structure on the basis of a given task model. The sensitivity of the organization of the decentralized autonomous robotic systems is also discussed in the simulation.
社団法人日本機械学会の論文
1995-02-25