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Connectivity Maintenance for Robotic Swarms by Distributed Role Allocation Algorithm
http://hdl.handle.net/10131/00014258
http://hdl.handle.net/10131/000142580993268e-ab5e-4289-ba92-25791dd3790b
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
AROB2022.pdf (653.0 kB)
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| Item type | 会議発表論文 / Conference Paper(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2022-02-18 | |||||
| タイトル | ||||||
| タイトル | Connectivity Maintenance for Robotic Swarms by Distributed Role Allocation Algorithm | |||||
| 言語 | en | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Swarm robotics, Role allocation, Decentralized algorithm, Connectivity maintenance | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
| 資源タイプ | conference paper | |||||
| アクセス権 | ||||||
| アクセス権 | open access | |||||
| アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||
| 著者 |
Kobayashi, Kazuho
× Kobayashi, Kazuho× Higuchi Takehiro× Ueno Seiya |
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| 著者所属 | ||||||
| 値 | Graduate School of Engineering Science, Yokohama National University | |||||
| 著者所属 | ||||||
| 値 | Faculty of Environment and Information Sciences, Yokohama National University | |||||
| 著者所属 | ||||||
| 値 | Faculty of Environment and Information Sciences, Yokohama National University | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | Swarm robotics requires a practical scheme to maintain supervision by human operators or managers, especially in complicated or life-threatening situations. For this purpose, this paper proposes an algorithm to maintain connectivity between robot swarm and fixed base station during missions. The main idea of the algorithm is maintaining connectivity by role allocation and switching among robots without centralized control by the base station. Our simulation studies have shown no significant inequality of computational cost among robots over the emulated patrol missions. Furthermore, as the total number of robots in the swarm increase, computational cost per robot does not increase significantly. These results have shown the distributed nature and scalability of the proposed algorithms. | |||||
| 会議概要（会議名, 開催地, 会期, 主催者等） | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | the AROB-SWARM-ISBC2022 | |||||
| 書誌情報 |
Proceedings of the Joint Symposium of AROB-ISBC-SWARM2022 p. 897-902, 発行日 2022-01 |
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| ISBN | ||||||
| 識別子タイプ | ISBN | |||||
| 関連識別子 | 9784990758288 | |||||
| 著者版フラグ | ||||||
| 出版タイプ | VoR | |||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
| 出版者 | ||||||
| 出版者 | International Society of Artificial Life and Robotics | |||||
