Some Novel Design Principles for Collective Behaviors in Mobile Robots

[摘要] We present a set of novel design principles to aid in the development of complex collective behaviors in fleets of mobile robots. The key elements are: the use of a graph algorithm that we have created, with certain proven properties, that guarantee scalable local communications for fleets of arbitrary size; the use of artificial forces to simplify the design of motion control; the use of certain proximity values in the graph algorithm to simplify the sharing of robust navigation and sensor information among the robots. We describe these design elements and present a computer simulation that illustrates the behaviors readily achievable with these design tools.

[发布日期] 2002-09-01 [发布机构] Sandia National Laboratories

[关键词] Computerized Simulation;Robots;Communications;42 Engineering;Algorithms