Title :
Analysis of emergence by intelligent data carrier system for collective robots based on stochastic models
Author :
Konishi, Katsumi ; Kurabayashi, Daisuke ; Asama, Hajime ; Shin, Seiichi
Author_Institution :
Dept. of Math. Eng. & Inf. Phys., Tokyo Univ., Japan
Abstract :
The paper is concerned with a system for emergent cooperative behaviors in a collective robot system using an intelligent data carrier (IDC). The IDC is an immobile but portable device (data carrier) for information storage and management. The paper focuses on a multiple robot navigation system using IDCs and provides the mathematical model describing the behavior of each robot with IDCs. The IDCs arrangement problem is formulated based on this mathematical model and the design method is provided. A numerical example shows that an optimal arrangement of IDCs can be obtained by using the provided method. The proposed method is the first step for providing an algorithm so that multiple robots can arrange IDCs autonomously under an unknown environment
Keywords :
cooperative systems; graph theory; matrix algebra; minimisation; mobile robots; multi-robot systems; path planning; collective robots; design method; emergence; emergent cooperative behaviors; information management; information storage; intelligent data carrier system; multiple robot navigation system; robot behaviour; stochastic models; Data engineering; Global communication; Information analysis; Information management; Intelligent robots; Intelligent systems; Mathematical model; Navigation; Physics; Stochastic systems;
Conference_Titel :
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-5731-0
DOI :
10.1109/ICSMC.1999.812501
