著者
Kazuho Kobayashi Takehiro Higuchi Seiya Ueno
出版者
International Society of Artificial Life and Robotics
雑誌
Proceedings of the Joint Symposium of AROB-ISBC-SWARM2023
巻号頁・発行日
pp.1491-1496, 2023-01-25

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.

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the proceeding is available at: https://t.co/Bf5U9uUOdA
AROB-ISBC-SWARM2023で発表した研究について若手研究者賞を頂きました。 本学会関係者の皆さま、共著者始め研究を支えてくださった皆さまに感謝申し上げます。 https://t.co/mFOw4QvDK2 予稿はコチラで公開しています。https://t.co/Bf5U9uUOdA https://t.co/kkyKMW2XYc

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