動的再構成可能ロボットシステムに関する研究 : 第22報,意思協調による自律分散ロボット群の行動の発生と組織化

概要

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In this research, we address the organization of group behavior on decentralized autonomous robotic systems. Collective group behavior is exhibied in the natural world, such as by ants and fish, in teamwork in sports and by the human society. Therefore, research on group behavior of decentralized autonomous robotic systems can be regarded as one of the research fields of Artificial Life. Decentralized autonomous robotic systems refer to multiple robotic systems including many autonomous robots, such as the Cellular Robotic System (CEBOT). The CEBOT, which has been studied by the authors, consists of a number of robotic units called "cells". In the research on the CEBOT, it is necessary to evolve a cooperative group behavior effectively in the system, since a well-organized group behavior is required to carry out given tasks efficiently and influences its perfor-mance ability. In order to organize the behavior in a dynamic environment, we proposed a concept of "self-recognition" for decision making of the behavior in a robotic group. In this paper, in addition to the proposed concept, we will show the organization and adaptation of group behavior with the coordination of intention, and represent some simulation results with the coordination of intention.
社団法人日本機械学会の論文
1995-09-25