TY - GEN
T1 - Collective motion and formation of simple interacting robots
AU - Sugawara, Ken
AU - Hayakawa, Yoshinori
AU - Tanigawa, Hiroumi
AU - Mizuguchi, Tsuyoshi
AU - Kosuge, Kazuhiro
AU - Sano, Masaki
PY - 2006
Y1 - 2006
N2 - This paper reports collective behaviors of multi-robot system with simple dynamics and interactions. The model for collective motion is described by fundamental kinetics and the dynamics of the heading which each element has as a degree of freedom. Firstly, we shows the system based on this model realizes various types of behavior according to the set of parameters in the model, which resembles to the behavior of livings such as fish, birds and small insects. Next, we refer to the behavior of the modified model improving the anisotropy of the interaction force. Especially, we discuss the characteristic of linear formation which is obtained by modifying the term of optimal distance between neighbors. Performance of the model is examined by both computer simulation and robot experiments.
AB - This paper reports collective behaviors of multi-robot system with simple dynamics and interactions. The model for collective motion is described by fundamental kinetics and the dynamics of the heading which each element has as a degree of freedom. Firstly, we shows the system based on this model realizes various types of behavior according to the set of parameters in the model, which resembles to the behavior of livings such as fish, birds and small insects. Next, we refer to the behavior of the modified model improving the anisotropy of the interaction force. Especially, we discuss the characteristic of linear formation which is obtained by modifying the term of optimal distance between neighbors. Performance of the model is examined by both computer simulation and robot experiments.
UR - http://www.scopus.com/inward/record.url?scp=34250661799&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2006.281811
DO - 10.1109/IROS.2006.281811
M3 - Conference contribution
AN - SCOPUS:34250661799
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1062
EP - 1067
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -