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Collective Robotic Site Preparation

机译：集体机器人场地准备

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摘要

Robotic site preparation has been identified as an integral precursor to human landings on Mars. Many species of social insect carry out the site preparation task when they construct their nests. A site preparation algorithm was developed based on the nest construction behavior of a particular species of ant, Leptothorax albipennis. In this paper, we present a new approach to modeling the temporal behavior of a multiple-robot system and apply it to our construction algorithm. In order to validate our model, experiments with multiple physical robots were conducted. Not only did the results of our experiments closely follow the predictions of our model, but the sites prepared by our robots appeared very similar to the nests built by the ants that were our inspiration.
机译：机器人现场准备工作已被确认为人类在火星上着陆的必要先兆。许多种类的社交昆虫在筑巢时都要进行场地准备工作。基于特定种类的蚂蚁Leptothorax albipennis的筑巢行为，开发了场地准备算法。在本文中，我们提出了一种对多机器人系统的时间行为进行建模的新方法，并将其应用于我们的构造算法。为了验证我们的模型，进行了多个物理机器人的实验。我们的实验结果不仅紧密地遵循了模型的预测，而且由机器人准备的位置看上去与启发我们的蚂蚁筑巢非常相似。

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