速度センシング不要の持続的整列を実現する位置ベース群れ行動
Position-Based Flocking for Persistent Alignment without Velocity Sensing
速度を測らずに位置情報だけで群れの向きを揃え続けるアルゴリズムを提案し、50体のシミュレーションと9台の実機ロボットで有効性を示した。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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著者: Hossein B. Jond, Veli Bakırcıoğlu, Logan E. Beaver, Nejat Tükenmez, Adel Akbarimajd, Martin Saska
分類: cs.RO
原文アブストラクト
Coordinated collective motion in bird flocks and fish schools inspires algorithms for cohesive swarm robotics. This paper presents a position-based flocking model that achieves persistent velocity alignment without velocity sensing. By approximating relative velocity differences from changes between current and initial relative positions and incorporating a time- and density-dependent alignment gain with a non-zero minimum threshold to maintain persistent alignment, the model sustains coherent collective motion over extended periods. Simulations with a collective of 50 agents demonstrate that the position-based flocking model attains faster and more sustained directional alignment and results in more compact formations than a velocity-alignment-based baseline. This position-based flocking model is particularly well-suited for real-world robotic swarms, where velocity measurements are unreliable, noisy, or unavailable. Experimental results using a team of nine real wheeled mobile robots are also presented.
