Modelling Swarm Robotic Systems: A Case Study in Collective Foraging
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چکیده
Understanding the effect of individual parameters on the collective performance of swarm robotic systems in order to design and optimise individual robot behaviours is a significant challenge. This paper presents a probabilistic model of a swarm foraging task. A number of difference equations are derived to describe the probabilistic finite state machine for the task at a macroscopic level. A geometrical approach is then developed in order to estimate the state transition probabilities by considering the simple strategies of individual robots. The paper validates the mathematical model using the simulation tools Player/Stage, and results show the model achieves excellent agreement with simulation.
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تاریخ انتشار 2007