Asymmetric global order to control a group of anonymous mobile robots by using loose-coupled local interactions

被引：0

作者：

Hashimoto, Ayaka ^{[1
]}

Kurabayashi, Daisuke ^{[1
]}

Moriyama, Takuro ^{[1
]}

Choh, Tatsuki ^{[1
]}

机构：

[1] Yaskawa Electric, Yahatanishi-ku, Kitakyushu, Fukuoka, 806-0004

来源：

Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C | 2013年 / 79卷 / 799期

关键词：

Autonomous robots; Orientational interactions; Oscillator; Self organization; Synchronization;

D O I：

10.1299/kikaic.79.593

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, we propose and demonstrate a system by which a global order is emerged by local interactions among distributed agents. To control a group of distributed agents, we need providing motion commands to the agents. However, employing a global communication system is not feasible for simple and anonymous agents. Thus, we propose a system inspired by slime molds. We utilize phase gradients emerged by oscillators programmed in the agents. We propose and implement a novel interaction method that incorporates relative orientation among agents in order to emerge asymmetric phase gradient. By analysis and experiments we verify the effectiveness of the proposed method. © 2013 The Japan Society of Mechanical Engineers.

引用

页码：593 / 603

页数：10

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