群ロボットの凝集的な振る舞い創発のための分散制御則

• 村山 暢

  和歌山高専

書誌事項

タイトル別名

• Distributed control method for swarm robot to emerge cohesive behavior

抄録

This paper reports an extension of a mathematical model which presents cohesive behaviors of actual animal swarms. The behavior are benefit for artificial swarm robot systems, however the model is unfit to implement in robots as a distributed controller. Especially, because the model considers that each individuals is move in discrete time-space domain, we have to discuss any collisions between the individuals in continuous domain for the implementation in the robots. A result with applying a mutual collision avoidance method is shown, and an opinion about a relationship between the cohesive behavior and the individual body size is expressed here.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2018 (0), 2P2-G16-, 2018

  一般社団法人 日本機械学会

キーワード

• Distributed control
• Swarm robot
• Cohesive behavior
• Collision avoidance

詳細情報

• CRID: 1390845713032927616
• NII論文ID: 130007552099
• DOI: 10.1299/jsmermd.2018.2p2-g16
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2018/0/2018_2P2-G16/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可