Opinion Dynamics for Decentralized Decision-Making in a Robot Swarm
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چکیده
In this paper, we study the application of an opinion dynamics model to swarm robotics. Our main result is that when opinions represent action choices, the opinion associated with the action that is the fastest to execute spreads in the population. Moreover, the spread of the best choice happens even when only a minority is initially advocating for it. The key elements involved in this process are consensus building and positive feedback. A foraging task that involves collective transport is used to illustrate the potential of the proposed approach as a decentralized decision-making mechanism for swarms of robots.
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تاریخ انتشار 2010