Simulating swarm robots for collision avoidance problem based on a dynamic Bayesian network

Hiroshi Hirai, Shigeru Takano, Einoshin Suzuki

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

抄録

This paper presents a simulator for the behaviors of swarm robots based on a Dynamic Bayesian Network (DBN). Our task is to design each robot's controller which enables the robot to patrol as many regions as possible without collisions. As the first step, we use two swarm robots, each of which has two motors each of which is connected to a wheel and three distance-measurement sensors. To design the controllers of these robots, we must determine several parameters such as the motor speed and thresholds of the three sensors. The simulator is used to reduce the number of real experiments in deciding values of such parameters. We fist performed measurement experiments for our real robots in order to get probabilistic data of the DBN. The simulator based on the DBN revealed appropriate values of a threshold parameter and interesting phase transitions of their behaviors in terms of the values.

本文言語英語
ホスト出版物のタイトルAdvances in Artificial Life
ホスト出版物のサブタイトルDarwin Meets von Neumann - 10th European Conference, ECAL 2009, Revised Selected Papers
ページ416-423
ページ数8
PART 2
DOI
出版ステータス出版済み - 7 11 2011
イベント10th European Conference of Artificial Life, ECAL 2009 - Budapest, ハンガリー
継続期間: 9 13 20099 16 2009

出版物シリーズ

名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
番号PART 2
5778 LNAI
ISSN(印刷版)0302-9743
ISSN(電子版)1611-3349

その他

その他10th European Conference of Artificial Life, ECAL 2009
国/地域ハンガリー
CityBudapest
Period9/13/099/16/09

All Science Journal Classification (ASJC) codes

  • 理論的コンピュータサイエンス
  • コンピュータ サイエンス(全般)

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