A study on group behavior for efficient local communication in distributed mobile robot system

Author

Arai, Tamio ; Yoshida, Eiichi ; Ota, Jun ; Miki, Tomoyoshi

Author_Institution

Dept. of Precision Machinery Eng., Tokyo Univ., Japan

Volume

4

fYear

1995

fDate

22-25 Oct 1995

Firstpage

3292

Abstract

Local communication system is considered appropriate for cooperation of many mobile robots in terms of communication cost and capacity. Because the behavior of robots has a considerable effect on the communication efficiency in such a distributed local system, its design is an essential issue. In this paper, we introduce a simple group behavior, and analyze how it improves the performance of local communication system. The optimal group size is then obtained analytically by minimizing the time required for the information transmission to the number of robots desired for cooperation. The effectiveness of the analysis is verified by computer simulation

Keywords

cooperative systems; information theory; minimisation; mobile robots; communication capacity; communication cost; computer simulation; distributed mobile robot system; efficient local communication; group behavior; information transmission time minimization; multiple mobile robot cooperation; optimal group size; Computer simulation; Fault detection; Global communication; Information analysis; Information resources; Legged locomotion; Mobile communication; Mobile robots; Performance analysis; Surveillance;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on

Conference_Location

Vancouver, BC

Print_ISBN

0-7803-2559-1

Type

conf

DOI

10.1109/ICSMC.1995.538293

Filename

538293