動的再構成可能ロボットシステムに関する研究 : 第28報,Cellular Robotic Systemにおけるセンシング情報の共有

概要

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In this paper, we deal with the problem of sensing information sharing among multiple robots in a Cellular Robotic System (CEBOT)-a model of the Distributed Autonomous Robotic System (DARS).Based on the analysis of the robot sensing actions in CEBOT, a distributed sensing for sharing which centers on information exchange and integration is introduced and discussed. By further analyzing the nature of the distributed sensing information, an approach for the integration of the distributed sensing information based on evidential reasoning is proposed. The proposed approach is examined through simulation using an application-Environment Map Building and Maintaining. The effectiveness of the Distributed Sensing in CEBOT centering on information integration is shown.
一般社団法人日本機械学会の論文
1997-07-25