A macroscopic analytical model of collaboration in distributed robotic systems

Artificial Life
K LermanA Ijspeert

Abstract

In this article, we present a macroscopic analytical model of collaboration in a group of reactive robots. The model consists of a series of coupled differential equations that describe the dynamics of group behavior. After presenting the general model, we analyze in detail a case study of collaboration, the stick-pulling experiment, studied experimentally and in simulation by Ijspeert et al. [Autonomous Robots, 11, 149-171]. The robots' task is to pull sticks out of their holes, and it can be successfully achieved only through the collaboration of two robots. There is no explicit communication or coordination between the robots. Unlike microscopic simulations (sensor-based or using a probabilistic numerical model), in which computational time scales with the robot group size, the macroscopic model is computationally efficient, because its solutions are independent of robot group size. Analysis reproduces several qualitative conclusions of Ijspeert et al.: namely, the different dynamical regimes for different values of the ratio of robots to sticks, the existence of optimal control parameters that maximize system performance as a function of group size, and the transition from superlinear to sublinear performance as the number ...Continue Reading

References

Jan 14, 2000·Artificial Life·O Holland, C Melhuish

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Citations

Oct 31, 2003·Trends in Cognitive Sciences·Mark A Bedau
Feb 13, 2007·Nanomedicine : Nanotechnology, Biology, and Medicine·Tad Hogg, Philip J Kuekes
Nov 5, 2014·PloS One·Matthias VigeliusGeoffrey Pascoe
Oct 20, 2009·Nanomedicine : Nanotechnology, Biology, and Medicine·Tad Hogg, Robert A Freitas
Sep 13, 2007·Bioinspiration & Biomimetics·Manfred Hartbauer, Heiner Römer

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