• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>WSEAS Transactions on Systems >Modeling Robotic Swarm Behavior with Collision Avoidance: Discrete Event System Perspective
【24h】

Modeling Robotic Swarm Behavior with Collision Avoidance: Discrete Event System Perspective

机译：避免碰撞的机器人群体行为建模：离散事件系统的观点

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

We present the notion of Complex Emergent Discrete Event Systems (CEDES) whereby sequence of local events between simple agents or agents and their environment lead to the emergence of overall behavior following certain design goals. Systems such as swarm robotics, distributed manufacturing, computer networks; nano-robotics and space robotics are real world examples that fall in this category. Such systems tend to be robust and scaleable under distributed environment. However, they require sound mathematical models that would guarantee desired emergent behavior. We in this paper consider a system consisting of a swarm of wirelessly connected simple robots and present a novel matrix formulation to model their emergent coherent movement. An observer is defined to model collision avoidance of swarm robots by keeping track of distances between them. This approach can be applied not only to model the dynamics of CEDES but also to quickly verify its emergent behavior and is readily executable. The simulation in MATLAB gives interesting insight into emergent behavior of the CEDES over time, which other wise require expensive experimentation.
机译：我们提出了复杂紧急离散事件系统（CEDES）的概念，其中简单主体或主体及其环境之间的局部事件顺序导致遵循某些设计目标的整体行为的出现。群机器人，分布式制造，计算机网络等系统;纳米机器人技术和太空机器人技术是属于此类的现实世界示例。这样的系统在分布式环境下往往是健壮的和可伸缩的。但是，他们需要可靠的数学模型来保证所需的紧急行为。在本文中，我们考虑了一个由无线连接的简单机器人组成的系统，并提出了一种新颖的矩阵公式来对它们出现的相干运动进行建模。定义了一个观察者，以通过跟踪群体机器人之间的距离来建模避免群体机器人的碰撞。这种方法不仅可以用于对CEDES的动力学建模，而且可以快速验证其紧急行为并且易于执行。 MATLAB中的仿真提供了有趣的洞察力，随着时间的推移，CEDES的紧急行为，否则需要昂贵的实验。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号