熱力学に基づく群ロボットのマクロ制御 -熱力学パラメータと群ロボットの行動- Macro-controlled Multiple Robots Based on Thermodynamics - Relationship between Multiple Robot Behaviors and Thermodynamics Parameters -
Some parameters in the thermodynamics explain a number of individual molecular movements as if they are macro-controlled movements. If multiple robot behaviors have an analogy to the molecular movements, the multiple robots can be artificially controlled by some parameters analogous to ones in thermodynamics. This paper reports on the relationship between multiple robot behaviors and thermodynamics parameters by simulations in modeling multiple robots as molecules. Main differences between robots and molecules are as follows; (1) A velocity of robot is much slower than that of molecule, (2) the number of robots is much less than that of molecules, and (3) a mass of robot is much larger than that of molecule. Instead of these differences, it is experimentally observed that three parameters, such as entropy, pressure and temperature, defined in the thermodynamics have a close relationship with multiple robot behaviors by recursively measuring the parameters every five hand-reds robot behaviors.
旭川工業高等専門学校研究報文 40, 41-49, 2003-03