動的再構成可能ロボットシステムに関する研究 : 第13報,動的環境に対応する自律分散ロボット群の行動の最適化(<小特集> インテリジェント・システム)

概要

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This paper deals with the problem of optimizing the behavior of a group robotic system, such as the Cellular Robotic System, in dynamic environments. The Cellular Robotic System (CEBOT) is an autonomous distributed robotic system composed of a large number of robotic units called "cells". Since the CEBOT is a group robotic system, cooperation and group organization are required for task execution. In this paper, We propose the concept of the "self-recognition" of the decision-making in the group behavior. To make a decision, each autonomous robot constructs an inner model based on the recognition of environment and the robots' state. If each robot behaves based on the inner model, which is constructed without consideration of the group behavior in the group system, deadlock problem will occur. Therefore, each robot is required to consider the influence of self-action on other robots and group system. The concept of the "self-recognition" is derived from consideration of this influence. We propose the learning and adaptation strategy for group behavior based on the concept of "self-recognition" and show its effectiveness through the simulation results.
社団法人日本機械学会の論文
1993-08-25