Specialization in Swarm Robotics using Local Interactions

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  • スワームロボティクスのための局所的相互作用を用いた自律的機能分化
  • ―エージェント数の変動に対する頑健性の検証―
  • - Verification of Robustness for Fluctuation of The Number of Agents -

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<p>This paper proposes a novel specialization method by response threshold model using local interactions for swarm robotics. The response threshold describes a sensitivity for pheromones of ants. Actually, there are high and low pheromone sensitivity ants. And It is known that the pheromone sensitivity of ants is related with specialization. In conventional response threshold model, it is assumed that individual ant can gain the number of all workers in an ant group. However, it is difficult for an ant to gain and deal with the number of all workers because the ant functions are very limited. Thus, the proposed response threshold model uses the number of encountered foraging ants instead of the number of all workers. This paper investigates the robustness of the proposed method in the environment where the number of ants in a group fluctuates through an ant foraging simulation.</p>

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