群ロボティクスにおける社会的に着想を得たコミュニケーション
Socially Inspired Communication in Swarm Robotics
群れロボットの物体収集実験で、目標に関する非方向性メッセージと受信可否判定を導入し、低頻度でも目標情報の共有がランダム情報の高頻度共有より有効だと示した。
著者: Nathan White, John Harwell, Maria Gini
分類: cs.RO
原文アブストラクト
Localized communication in swarms has been shown to increase swarm effectiveness in some situations by allowing for additional opportunities for cooperation. However, communication and utilization of potentially outdated information is also a concern. We present an explicit non-directional goal-based communication model and message accept/reject scheme, and test our model in a set of object gathering experiments with a swarm of robots. The results of the experiments indicate that even low levels of communication regarding the swarm's goal outperform high levels of random information communication.
