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1 0 0 0 OA Connectivity maintenance for robotic swarms by distributed role switching algorithm

著者
Kazuho Kobayashi Takehiro Higuchi Seiya Ueno
出版者
Springer
雑誌
Artificial Life and Robotics (ISSN:16147456)
巻号頁・発行日
vol.27, no.4, pp.876-884, 2022-09-30
被引用文献数
1
Swarm robotics requires a practical scheme to maintain operator supervision for the acceptability of systems' autonomy by humans. For this purpose, this paper proposes a distributed algorithm for continuous connectivity between robots and a base station to maintain the controllability and transparency of the swarm. This algorithm forms network topology among the swarm members and deploys repeaters to maintain the connection to the base station by a role switching scheme. Preliminary simulations have shown that the revised acute angle test reduced the cost of the network formation with the Gabriel graph topology. Through the simulated patrol missions, the proposed algorithm successfully maintained the continuous connectivity between the base station and the swarm members without significant inequality in the computational cost among swarm members. Furthermore, as the number of robots increases, the computational cost per robot does not increase significantly. These results indicate the distributed nature and scalability of the proposed algorithms.

1 0 0 0 OA Minimum Nomic : a tool for studying rule dynamics

著者
Hatakeyama Masaomi Hashimoto Takashi
出版者
Springer
雑誌
Artificial Life and Robotics (ISSN:14335298)
巻号頁・発行日
vol.13, no.2, pp.500-503, 2009-03
We propose a kind of self-amendment game, Minimum Nomic, as a model to study rule dynamics. Nomic is a game in which changing a rule of the game is a move. Minimum Nomic is a reduced version of the original Nomic, which keeps the essence but promotes the evolvability of the self-amendment game. We discuss the characteristics of Minimum Nomic from the viewpoint of how the changeability of the rules and the durability of the games change with the progress of the game. By analyzing the dynamics of purpose and goals, and the self-referential property in observations of the games played, we claim that Minimum Nomic is an interesting tool to study rule dynamics.