Some Novel Design Principles for Collective Behaviors in Mobile Robots | Zendy

G. C. Osbourn | Zendy

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Some Novel Design Principles for Collective Behaviors in Mobile Robots

Author(s) -

G. C. Osbourn

Publication year - 2002

Publication title -

osti oai (u.s. department of energy office of scientific and technical information)

Language(s) - English

Resource type - Reports

DOI - 10.2172/801396

Subject(s) - scalability , computer science , robot , mobile robot , graph , distributed computing , set (abstract data type) , key (lock) , design elements and principles , collective motion , human–computer interaction , theoretical computer science , artificial intelligence , software engineering , database , programming language , computer security

We present a set of novel design principles to aid in the development of complex collective behaviors in fleets of mobile robots. The key elements are: the use of a graph algorithm that we have created, with certain proven properties, that guarantee scalable local communications for fleets of arbitrary size; the use of artificial forces to simplify the design of motion control; the use of certain proximity values in the graph algorithm to simplify the sharing of robust navigation and sensor information among the robots. We describe these design elements and present a computer simulation that illustrates the behaviors readily achievable with these design tools

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