Coordination control design of heterogeneous swarm robots by means of task-oriented optimization

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• 作者：Naoki Nishikawa ; Reiji Suzuki ; Takaya Arita
• 关键词：Autonomous robots ; Coordination ; Decentralized control ; Genetic algorithm ; Heterogeneity ; Swarm chemistry ; Task models
• 刊名：Artificial Life and Robotics
• 出版年：2016
• 出版时间：March 2016
• 年：2016
• 卷：21
• 期：1
• 页码：57-68
• 全文大小：1,859 KB
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• 作者单位：Naoki Nishikawa (1)
  Reiji Suzuki (1)
  Takaya Arita (1)
  
  1. Graduate School of Information Science, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8601, Japan
  
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Computation by Abstract Devices
  Automation and Robotics
  
• 出版者：Springer Japan
• ISSN：1614-7456

文摘

This paper is concerned with a framework to design self-organizing, self-reconfigurable robotic systems. We focus our attention on the algorithm of a multi-agent system called Swarm Chemistry, proposed by Sayama (Artif Life 15:105–114, 2009). In this model, a number of agents that have non-uniform kinetic properties coalesce into an excellent diversity of spatial structures and/or emergent behaviors, depending on the kinetic parameters provided. However, such bottom-up nature cannot be easily applied to the conventional and top-down design of artifacts. This paper presents a method of designing heterogeneous robotic swarms and finding solutions through a genetic algorithm. Simulation results with a few simple task examples demonstrate that the proposed framework allows us to acquire appropriate sets of kinetic parameters, i.e. recipes, creating swarm structures to perform a given task more effectively and efficiently. Such autonomous robots can be deployed for the purposes like disaster prevention, geographical survey, and subsea exploration.