Classifying Environmental Features From Local Observations of Emergent Swarm Behavior
文献类型：期刊论文
| 作者 | Megan Emmons; Anthony A. Maciejewski; Charles Anderson; Edwin K. P. Chong |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2020 |
| 卷号 | 7期号:3页码:674-682 |
| 关键词 | Biologically inspired robotics environment exploration multi-agent systems swarm robotics |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2020.1003129 |
| 英文摘要 | Robots in a swarm are programmed with individual behaviors but then interactions with the environment and other robots produce more complex, emergent swarm behaviors. One discriminating feature of the emergent behavior is the local distribution of robots in any given region. In this work, we show how local observations of the robot distribution can be correlated to the environment being explored and hence the location of openings or obstructions can be inferred. The correlation is achieved here with a simple, single-layer neural network that generates physically intuitive weights and provides a degree of robustness by allowing for variation in the environment and number of robots in the swarm. The robots are simulated assuming random motion with no communication, a minimalist model in robot sophistication, to explore the viability of cooperative sensing. We culminate our work with a demonstration of how the local distribution of robots in an unknown, office-like environment can be used to locate unobstructed exits. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42978]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Megan Emmons,Anthony A. Maciejewski,Charles Anderson,et al. Classifying Environmental Features From Local Observations of Emergent Swarm Behavior[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(3):674-682. |
| APA | Megan Emmons,Anthony A. Maciejewski,Charles Anderson,&Edwin K. P. Chong.(2020).Classifying Environmental Features From Local Observations of Emergent Swarm Behavior.IEEE/CAA Journal of Automatica Sinica,7(3),674-682. |
| MLA | Megan Emmons,et al."Classifying Environmental Features From Local Observations of Emergent Swarm Behavior".IEEE/CAA Journal of Automatica Sinica 7.3(2020):674-682. |
入库方式： OAI收割
来源：自动化研究所
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