Title :
An oscillation analysis on distributed autonomous robotic system
Author :
Kaga, Tomoyuki ; Fukuda, Toshio
Author_Institution :
Dept. of Micro Syst. Eng., Nagoya Univ., Japan
Abstract :
We assume that analyses of collective property is necessary for the establishment of swarm control theory. This paper deals an oscillation as one of the intrinsic collective properties of distributed autonomous robotic systems. The oscillation is a very important property, which influences the entire system performance. Factors which cause the oscillation include an information delay, fluctuation of the system, etc. We analyze the influence of such factors on the oscillation property. In addition, we examine the influence of oscillation on the system performance in terms of task sufficiency and efficiency. The cellular robotic system (CEBOT) is used as a model for the analysis
Keywords :
adaptive systems; cooperative systems; delays; distributed control; mobile robots; oscillations; adaptive systems; cellular robotic system; distributed autonomous robotic system; efficiency; fluctuation; information delay; mobile robots; oscillation analysis; swarm control; task sufficiency; Artificial intelligence; Collaborative work; Delay; Large-scale systems; Navigation; Robots; Robustness; Shape; System analysis and design; Transportation;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.680604
