| Автор | Hartbauer, Manfred |
| Автор | Römer, Heiner |
| Дата выпуска | 2007-09-01 |
| dc.description | The miniaturization of microrobots is accompanied by limitations of signaling, sensing and agility. Control of a swarm of simple microrobots has to cope with such constraints in a way which still guarantees the accomplishment of a task. A recently proposed communication method, which is based on the coupling of signal oscillators of individual agents [13], may provide a basis for a distributed control of a simulated swarm of simple microrobots (similar to I-Swarm microrobots) engaged in a cleaning scenario. This self-organized communication method was biologically inspired from males of chorusing insects which are known for the rapid synchronization of their acoustic signals in a chorus. Signal oscillator properties were used to generate waves of synchronized signaling (s-waves) among a swarm of agents. In a simulation of a cleaning scenario, agents on the dump initiated concentrically spreading s-waves by shortening their intrinsic signal period. Dirt-carrying agents localized the dump by heading against the wave front. After optimization of certain control parameters the properties of this distributed control strategy were investigated in different variants of a cleaning scenario. These include a second dump, obstacles, different agent densities, agent drop-out and a second signal oscillator. |
| Формат | application.pdf |
| Издатель | Institute of Physics Publishing |
| Копирайт | 2007 IOP Publishing Ltd |
| Название | A novel distributed swarm control strategy based on coupled signal oscillators |
| Тип | paper |
| DOI | 10.1088/1748-3182/2/3/002 |
| Print ISSN | 1748-3190 |
| Журнал | Bioinspiration & Biomimetics |
| Том | 2 |
| Первая страница | 42 |
| Последняя страница | 56 |
| Последняя страница | 56 |
| Аффилиация | Hartbauer, Manfred; Department of Zoology, Karl-Franzens University Graz, Austria |
| Аффилиация | Römer, Heiner; Department of Zoology, Karl-Franzens University Graz, Austria |
| Выпуск | 3 |
