The k -Unanimity Rule for Self-Organized Decision-Making in Swarms of Robots
| Autor: | Arne Brutschy, Marco Dorigo, Eliseo Ferrante, Alexander Scheidler |
|---|---|
| Přispěvatelé: | Université libre de Bruxelles (ULB), Catholic University of Leuven - Katholieke Universiteit Leuven (KU Leuven), Publica |
| Rok vydání: | 2016 |
| Předmět: |
[INFO.INFO-CC]Computer Science [cs]/Computational Complexity [cs.CC]
0209 industrial biotechnology Computer science Monte Carlo method Swarm robotics 02 engineering and technology [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI] Set (abstract data type) Computer Science::Robotics 020901 industrial engineering & automation [INFO.INFO-LG]Computer Science [cs]/Machine Learning [cs.LG] 0202 electrical engineering electronic engineering information engineering [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] Electrical and Electronic Engineering [NLIN.NLIN-AO]Nonlinear Sciences [physics]/Adaptation and Self-Organizing Systems [nlin.AO] business.industry Process (computing) Intelligent decision support system Swarm behaviour Computer Science Applications Human-Computer Interaction Control and Systems Engineering [INFO.INFO-MA]Computer Science [cs]/Multiagent Systems [cs.MA] Robot 020201 artificial intelligence & image processing Artificial intelligence business Software Information Systems |
| Zdroj: | IEEE Transactions on Cybernetics IEEE Transactions on Cybernetics, IEEE, 2016, 46 (5), pp.1175-1188. ⟨10.1109/TCYB.2015.2429118⟩ |
| ISSN: | 2168-2275 2168-2267 |
| Popis: | International audience; In this paper, we propose a collective decision-making method for swarms of robots. The method enables a robot swarm to select, from a set of possible actions, the one that has the fastest mean execution time. By means of positive feedback the method achieves consensus on the fastest action. The novelty of our method is that it allows robots to collectively find consensus on the fastest action without measuring explicitly the execution times of all available actions. We study two analytical models of the decision-making method in order to understand the dynamics of the consensus formation process. Moreover, we verify the applicability of the method in a real swarm robotics scenario. To this end, we conduct three sets of experiments that show that a robotic swarm can collectively select the shortest of two paths. Finally, we use a Monte Carlo simulation model to study and predict the influence of different parameters on the method. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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