動的再構成可能ロボットシステムに関する研究 : 第15報,ランダム・ウォークによる形態の自己組織化とその評価

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This paper deals with a primitive approach for the self-organized structure of the Cellular Robotic System. The Cellular Robotic System, which is named as "CEBOT", consists of a large number of autonomous robotic units called "cells". Since cellular robots are comprised at the connections of cells, self-organization is basically the most important issue. This paper presents the progress of self-organization of the cellular robots, in which the cells walk randomly. To organize the structure, these cells must recognize and communicate with each other. Based on the communication between cells, each cell makes a decision whether or not to connect to the other cell. We assume that each cell has the genetic information as a structural map of itself, like a biological cell. In this paper, we consider the swarm behavior of the cells from the point of view of "selfishness" and "altruism". Based on the simulation results, we will show the influence of some parameters such as "selfishness" and "altruism", sensing ability and directional intensity.
社団法人日本機械学会の論文
1993-09-25