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Hierarchical and Distributed Patrol Strategy for Robotic Swarms with Continuous Connectivity
http://hdl.handle.net/10131/00014930
http://hdl.handle.net/10131/0001493016b673ab-b430-4e76-bdad-7467077e7a0c
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
2_OS23-1.pdf (1.1 MB)
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| Item type | 会議発表論文 / Conference Paper(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2023-01-27 | |||||
| タイトル | ||||||
| タイトル | Hierarchical and Distributed Patrol Strategy for Robotic Swarms with Continuous Connectivity | |||||
| 言語 | ja | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| キーワード | ||||||
| 主題 | Swarm Robotics, Patrolling, Multi-Robot System, Hierarchical Control, Situational Awareness | |||||
| 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 |
Kazuho, Kobayashi
× Kazuho, Kobayashi× Takehiro Higuchi× Seiya, Ueno |
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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 | This paper proposes a hierarchical and distributed strategy for patrolling missions by robotic swarms, including a fixed base station. One of the essential requirements for autonomous robotic swarms is predictability from human operators. As a clue to satisfy this requirement in patrolling missions, the strategy employs hierarchized algorithms to maintain continuous connectivity to the base station by (i)global patrol and (ii)local patrol. Each robot selects the location to patrol by one of the two algorithms, according to the robot’s role. The paper also introduces a performance metric for the base station’s situational awareness, which may indicate the swarm behaviors’ predictability. The simulation study tested the proposed strategy and compared it to an existing strategy. The proposed strategy demonstrated successful patrol behavior with continuous connectivity to the base station. Though the existing strategy performed better in some aspects, the proposed strategy effectively covered the whole mission area and provided the base station with higher situational awareness. | |||||
| 内容記述 | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | The paper was presented at the AROB-SWARM-ISBC2023. | |||||
| 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 | AROB-ISBC-SWARM2023 | |||||
| 書誌情報 |
Proceedings of the Joint Symposium of AROB-ISBC-SWARM2023 p. 1491-1496, 発行日 2023-01-25 |
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| 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 | |||||
