Управление в статических роях. Постановка задачи
Chapter is devoted to the planning of joint action for tasks of robotics group
This paper discusses local communication issues in a group of homogeneous robots for the purpose of decentralizing group management. A short review is presented of existing research in this area, which is mainly devoted to solutions for individual problems in the field. The possibility is considered to program the messages robots exchange within a group as fuzzy (pseudo-analog). There are comparisons with the natural world, where the social behavior of animals is negotiated with non-distinct messages in a continuous pattern. Issues regarding the physical aspects of organizing communication channels are considered. Robots that are used in group robotics have limited sensor and computing functions, but they should nonetheless be able to orient themselves relevant to one another to coordinate their common actions. Accordingly, the idea is proposed to emulate signal transmissions using a discrete IR-channel. The paper defends the grounds for interpreting received messages based on their sequence and the reactions they produce. The results of computer experiments that model the problem of individualized minds in robots are presented. The results of the computer experiments show that the use of fuzzy messages make robot behavior more variable, and allows the group to function more stably while consuming less energy for movement. These results prove that the proposed method is indeed viable, and also that message comprehension and the reliability of communication channels increases when fuzzy (pseudo-analog) messages are used.
Work solutions are proposed for problems of leader definition and role distribution in homogeneous groups of robots. It was shown that transition from a swarm to a collective of robots with hierarchical organisation is possible using exclusively local interaction. The local re-voting algorithm is central to the procedure for choice of leader while distribution of roles can be achieved by a wave method. The basis for this approach is the static swarm model characterised by the absence of a set control centre; it represents the network fixed at some time interval as a set of locally interacting agents. A task of cooperative hunting by distributed mobile robots based on local interaction was considered. Two strategies were used for the hunting task solution: individual hunting and pack-hunting. Simulation results showed that symbiosis of leader election and role distribution procedures has advantages over the individual strategy.
Chapter is devoted to the problems of planning of joint actions and the selection of the initial objectives of the team of robots
Work solutions are proposed for problems of leader definition and role distribution in homogeneous groups of robots. It is shown that transition from a swarm to a collective of robots with hierarchical organization is possible using exclusively local interaction. The local revoting algorithm is central to the procedure for choice of leader while redistribution of roles can be achieved by a wave method. The basis for this approach is the static swarm model, which is characterized by the absence of a set control center and represents the network fixed at some time interval as a set of locally interacting agents.