持続的スカルプティング：局所環境変化に適応する群れの形状維持
Continuous Sculpting: Persistent Swarm Shape Formation Adaptable to Local Environmental Changes
人間が群れロボットを彫刻して作った形状を、ロボットが循環・充電しながらエネルギー制約を超えて永続的に維持し、形状変化にも適応するアルゴリズムを提案した。
著者: Andrew G. Curtis, Mark Yim, Michael Rubenstein
分類: cs.RO
原文アブストラクト
Despite their growing popularity, swarms of robots remain limited by the operating time of each individual. We present algorithms which allow a human to sculpt a swarm of robots into a shape that persists in space perpetually, independent of onboard energy constraints such as batteries. Robots generate a path through a shape such that robots cycle in and out of the shape. Robots inside the shape react to human initiated changes and adapt the path through the shape accordingly. Robots outside the shape recharge and return to the shape so that the shape can persist indefinitely. The presented algorithms communicate shape changes throughout the swarm using message passing and robot motion. These algorithms enable the swarm to persist through any arbitrary changes to the shape. We describe these algorithms in detail and present their performance in simulation and on a swarm of mobile robots. The result is a swarm behavior more suitable for extended duration, dynamic shape-based tasks in applications such as agriculture and emergency response.
