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基地局との接続を維持する群ロボットの分散・階層型巡回監視アルゴリズム

小林 一穂 樋口 丈浩 20403652 上野 誠也 60203460 横浜国立大学

2023.01.22

概要

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 a hierarchized algorithm to maintain continuous connectivity to the base station by (i)global patrol and (ii)nearby patrol. Each robot chooses 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 demonstrated the successful patrol behavior of the swarms with continuous connectivity to the base station. Future studies will compare the proposed strategy to existing patrol strategies in terms of both metrics: patrol performance and situational awareness.

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参考文献

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[9] K. Kobayashi, T. Higuchi, and S. Ueno, Hierarchical Control and Subgroup Formation for Robotic Swarms in Patrol Missions (ON PRESS), International Journal of Mechanical Engineering and Robotics Research.

[10] A. Machado, G. Ramalho, J.-D. Zucker, et al., Multi-agent Patrolling: An Empirical Analysis of Alternative Architectures, Multi-Agent-Based Simulation II, pp. 155–170, 2003.

[11] K. Kobayashi, T. Higuchi, and S. Ueno, Connectivity maintenance for robotic swarms by distributed role switching algorithm, Artificial Life and Robotics, vol. 27, no. 4, pp. 876–884, 2022

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