Swarm behavior control of mobile multi-robots with wireless sensor networks

被引：56

作者：

Li, Wenfeng ^{[1
]}

Shen, Weiming ^{[2
]}

机构：

[1] Wuhan Univ Technol, Sch Logist Engn, Wuhan 430063, Peoples R China

[2] IRC, Natl Res Council Canada, London, ON, Canada

来源：

JOURNAL OF NETWORK AND COMPUTER APPLICATIONS | 2011年 / 34卷 / 04期

关键词：

Wireless sensor networks; Mobile multi-robots; Swarm intelligence; Swarm design; Behavior control; REPLACEMENT;

D O I：

10.1016/j.jnca.2011.03.023

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

A swarm is a "complex adaptive system", which is decentralized and self-organized and whose individuals are simple, homogeneous and autonomous. Swarm intelligence is defined to describe its emergent behaviors. Both wireless sensor networks and mobile multi-robots demonstrate swarm features. This paper first discusses the challenges of combining wireless sensor networks and mobile multi-robots, and then proposes a layered dual-swarm framework with three communication channels that can inherit traditional swarm technology while building an efficient interaction channel for both swarms to cooperate. In order to improve the system controllability, a new type of numerical entity called "virtual entity" and related control strategies are introduced. Finally, proof-of-concept implementations are presented and illustrated with simulation scenarios and a physical testbed. The experimental results show that the WSN-MMR swarm system can emerge successfully and robustly from swarm intelligence. (C) 2011 Elsevier Ltd. All rights reserved.

引用

页码：1398 / 1407

页数：10

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