Classifying Environmental Features From Local Observations of Emergent Swarm Behavior

doi:10.1109/JAS.2020.1003129

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	Classifying Environmental Features From Local Observations of Emergent Swarm Behavior
	Megan Emmons; Anthony A. Maciejewski; Charles Anderson; Edwin K. P. Chong
刊名	IEEE/CAA Journal of Automatica Sinica
	2020
卷号	7 期号:3 页码:674-682
关键词	Biologically inspired robotics environment exploration multi-agent systems swarm robotics
ISSN号	2329-9266
DOI	10.1109/JAS.2020.1003129
英文摘要	Robots in a swarm are programmed with individual behaviors but then interactions with the environment and other robots produce more complex, emergent swarm behaviors. One discriminating feature of the emergent behavior is the local distribution of robots in any given region. In this work, we show how local observations of the robot distribution can be correlated to the environment being explored and hence the location of openings or obstructions can be inferred. The correlation is achieved here with a simple, single-layer neural network that generates physically intuitive weights and provides a degree of robustness by allowing for variation in the environment and number of robots in the swarm. The robots are simulated assuming random motion with no communication, a minimalist model in robot sophistication, to explore the viability of cooperative sensing. We culminate our work with a demonstration of how the local distribution of robots in an unknown, office-like environment can be used to locate unobstructed exits.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/42978]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Megan Emmons,Anthony A. Maciejewski,Charles Anderson,et al. Classifying Environmental Features From Local Observations of Emergent Swarm Behavior[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(3):674-682.
APA	Megan Emmons,Anthony A. Maciejewski,Charles Anderson,&Edwin K. P. Chong.(2020).Classifying Environmental Features From Local Observations of Emergent Swarm Behavior.IEEE/CAA Journal of Automatica Sinica,7(3),674-682.
MLA	Megan Emmons,et al."Classifying Environmental Features From Local Observations of Emergent Swarm Behavior".IEEE/CAA Journal of Automatica Sinica 7.3(2020):674-682.