全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用：99美元
投递稿件

查看量下载量

相关文章

更多...

群机器人研究综述

, PP. 177-185

Keywords: 群体智能,群机器人,有限感知,局部交互,协作控制

Full-Text   Cite this paper   Add to My Lib

Abstract:

从计算机科学的角度对群机器人进行综述,概括其历史背景和目前的研究工作,回顾和展望其应用领域.群机器人是受社会性昆虫群体行为启发产生的新方法,通过建立经济、鲁棒、柔性和规模可伸缩的多机器人系统,协调控制相对简单的个体机器人合作完成规定的复杂任务.围绕群机器人的定义、与其他多机器人系统的区分准则及系统级功能特征,讨论群机器人研究中的主要问题:个体交互、通信、协作控制和自组织、自组装等,明确其研究概貌.

 References

[1]  Murphy R R. Introduction to AI Robotics. Cambridge, USA: MIT Press, 2000
[2]  Bayazit O B, Lien J, Amato N M. Swarming Behavior Using Probabilistic Roadmap Techniques // Proc of the SAB Workshop on Swarm Robotics. Santa Monica, USA, 2004: 112125
[3]  Lerman K, Martinoli A, Galstyan A. A Review of Probabilistic Macroscopic Models for Swarm Robotic Systems // Proc of the SAB Workshop on Swarm Robotics. Santa Monica, USA, 2004: 143152
[4]  Nembrini J, Reeves N, Poncet , et al. Mascarillons: Flying Swarm Intelligence for Architectural Research // Proc of the IEEE Swarm Intelligence Symposium. New Delhi, India, 2005: 225232
[5]  Payton D, Estkowski R, Howard M. Compound Behaviors in Pheromone Robotics. Robotics and Autonomous Systems, 2003, 44(3/4): 229240
[6]  Stormont D P. An Autonomous Robot Swarm for Urban Search and Rescue // Proc of the IEEE International Conference on Robotics and Automation. Orlando, USA, 2006: 215220
[7]  Li Juncai, Meng Qinhao, Liang Qiong. Simulation Study on Robot Active Olfaction Based on Evolutionary Gradient Search. Robot, 2007, 29(3): 234238 (in Chinese) (李俊彩,孟庆浩,梁 琼.基于进化梯度搜索的机器人主动嗅觉仿真研究.机器人, 2007, 29(3): 234238)
[8]  Marques L, Nunes U, de Almeida A T. Particle SwarmBased Olfactory Guided Search. Autonomous Robotics, 2006, 20(3): 277287
[9]  Liu Shicai, Tan Dalong, Liu Guangjun. Formation Control of Mobile Robots with Active Obstacle Avoidance. Acta Automatica Sinica, 2007, 33(5): 529535 (in Chinese) (刘士才,谈大龙,刘光军.移动机器人的队形控制及其主动避障.自动化学报, 2007, 33(5): 529535)
[10]  Dorigo M, Tuci E, Mondada F, et al. The SWARM BOTS Project // Proc of the SAB Workshop on Swarm Robotics. Santa Monica, USA, 2004: 3144
[11]  Correll N, Martinoli A. Collective Inspection of Regular Structures Using a Swarm of Miniature Robots // Proc of the 9th International Symposium on Experimental Robotics. Singapore, Singapore, 2004: 111
[12]  Correll N, Martinoli A. Modeling and Optimization of a SwarmIntelligent Inspection System // Proc of the 7th International Symposium on Distributed Autonomous Robotic Systems. Toulouse, France, 2006: 369378
[13]  Correll N, Martinoli A. Modeling and Analysis of Beaconless and BeaconBased Policies for a SwarmIntelligent Inspection System // Proc of the IEEE International Conference on Robotics and Automation. Barcelona, Spain, 2005: 24772482
[14]  Correll N, Cianci C, Raemy X, et al. SelfOrganized Embedded Sensor/Actuator Networks for "Smart" Turbines // Proc of the IEEE/RSJ International Conference on Intelligent Robots and System Workshop on Network Robot System: Toward Intelligent Robotic Systems Integrated with Environments. Beijing, China, 2006: 1830
[15]  Spears D, Kerr W, Spears W. PhysicsBased Robot Swarms for Coverage Problems. International Journal on Intelligent Control and Systems, 2006, 11(3): 1123
[16]  Spears W, Spears D, Heil R, et al. An Overview of Physicomimetics // Proc of the SAB Workshop on Swarm Robotics. Santa Monica, USA, 2004: 8497
[17]  Seyfried J, Szymanski M, Bender N, et al. The ISWARM Project: Intelligent Small World Autonomous Robots for Micromanipulation // Proc of the SAB Workshop on Swarm Robotics. Santa Monica, USA, 2004: 7083
[18]  Correll N, Martinoli A. Towards Optimal Control of Self Organized Robotic Inspection Systems // Proc of the 8th IFAC International Symposium on Robot Control. Bologna, Italy, 2006: 98115
[19]  Spears W, Spears D, Hamann J, et al. Distributed, PhysicsBased Control of Swarms of Vehicles. Autonomous Robots, 2004, 17(2/3): 137162
[20]  Balch T. Communication, Diversity and Learning: Cornerstones of Swarm Behavior // Proc of the SAB Workshop on Swarm Robotics. Santa Monica, USA, 2004: 2130
[21]  Kitano H, Asada M, Kuniyoshi Y, et al. RoboCup: A Challenge AI Problem. AI Magazine, 1997, 18(1): 7385
[22]  Balch T. Hierarchic Social Entropy: An Information Theoretic Measure of Robot Group Diversity. Autonomous Robots, 2000, 8(3): 209238
[23]  Sugawara K, Sano M. Cooperative Acceleration of Task Performance: Foraging Behavior of Interacting MultiRobots System. Physica D, 1997, 100(3/4): 343354
[24]  Schmickl T, Crailsheim K. Trophallaxis among SwarmRobots: A Biologically Inspired Strategy for Swarm Robotics // Proc of the 1st IEEE/RASEMBS International Conference on Biomedical Robotics and Biomechatronics. Pisa, Italy, 2006: 377382
[25]  Su Zhibao, Gong Jianwei, Xiong Guangming, et al. Research Content and Trend of MultiRobot Systems [EB/OL]. [20070406]. http://www.gjwtech.com/controlrobot/researchcontentofmultirobotsystem.htm (in Chinese) (苏治宝,龚建伟,熊光明,等.多机器人系统的研究内容与发展趋势[EB/OL]. [20070406]. http://www.gjwtech.com/controlrobot/researchcontentofmultirobotsystem.htm)
[26]  Grushin A, Reggia J A. Stigmergic SelfAssembly of Prespecified Artificial Structures in a Constrained and Continuous Environment. Integrated ComputerAided Engineering, 2006, 13(4): 289312
[27]  Payton D, Estkowski R, Howard M. Pheromone Robotics and the Logic of Virtual Pheromones // Proc of the SAB Workshop on Swarm Robotics. Santa Monica, USA, 2004: 4557
[28]  Tan Min, Fan Yong, Xu Guohua. Research on Control and Cooperation for Swarm Robot Systems. Robot, 2001, 23(2): 178182 (in Chinese) (谭 民,范 永,徐国华.机器人群体协作与控制的研究.机器人, 2001, 23(2): 178182)
[29]  Cao Y U, Fukunaga A S, Kahng A B. Cooperative Mobile Robotics: Antecedents and Directions. Autonomous Robots, 1997, 4(1): 123
[30]  Zhang Y, Martinoli A, Antonsson E K. Evolutionary Design of a Collective Sensory System // Proc of the AAAI Spring Symposium on Computational Synthesis. Palo Alto, USA, 2003: 283290
[31]  Kalra N, Martinoli A. A Comparative Study of MarketBased and ThresholdBased Task Allocation. Distributed Autonomous Robotic System, New York, USA: SpringerVerlag, 2007
[32]  Pugh J, Martinoli A. MultiRobot Learning with Particle Swarm Optimization // Proc of the 5th International Joint Conference on Autonomous Agents and MultiAgent Systems. Hakodate, Japan, 2006: 441448
[33]  Pugh J, Martinoli A, Zhang Y. Particle Swarm Optimization for Unsupervised Robotic Learning // Proc of the IEEE Swarm Intelligence Symposium. New Delhi, India, 2005: 9299
[34]  Li L, Martinoli A, AbuMostafa Y S. Learning and Measuring Specialization in Collaborative Swarm Systems. Adaptive Behavior-Animals, Animats, Software Agents, Robots, Adaptive Systems, 2004, 12(3/4): 199212
[35]  Li Junyuan, Chen Hongjun, Zhang Xiaohua, et al. Localization Technique of Pipeline Robot Based on MultiSensor Data Fusion. Control and Decision, 2006, 21(6): 661665 (in Chinese) (李军远,陈宏钧,张晓华,等.基于信息融合的管道机器人定位控制研究.控制与决策, 2006, 21(6): 661665)
[36]  Hawick K A, James H A, Story J E, et al. An Architecture for Swarm Robots. Technical Report, DHPC121, Bangor, UK: University of Wales. School of Informatics, 2002
[37]  Zhang Yizhen, Antonsson E K, Martinoli A. Evolving Neural Controllers for Collective Robotic Inspection // Proc of the 9th Online World Conference on Soft Computing in Industrial Applications. Dortmund, Germany, 2004: 717729
[38]  Borenstein J, Everett H R, Feng L, et al. Mobile Robot Positioning-Sensors and Techniques. Journal of Robotic Systems, 1997, 14(1): 231249
[39]  Feng L, Borenstein J, Everett H R. Where Am I ？Sensors and Methods for Autonomous Mobile Robot Positioning. Technical Report, UMMEAM9421, Ann Arbor, USA:University of Michigan. Department of Mechanical Engineering and Applied Mechanics, 1994
[40]  Wang Ling, Shao Jinxin, Wan Jianwei. Simultaneous Localization for MultiRobot Based on Relative Observations. Journal of National University of Defense Technology, 2006, 28(2): 6772 (in Chinese) (王 玲,邵金鑫,万建伟.基于相对观测量的多机器人定位.国防科技大学学报, 2006, 28(2): 6772)
[41]  Martinelli A, Pont F, Siegwart R. MultiRobot Localization Using Relative Observations // Proc of the IEEE International Conference on Robotics and Automation. Barcelona, Spain, 2005: 27972802
[42]  Wang Ling, Liu Yunhui, Wan Jianwei, et al. MultiRobot Cooperative Localization Based on Relative Bearing. Chinese Journal of Sensors and Actuators, 2007, 20(4): 794799 (in Chinese) (王 玲,刘云辉,万建伟,等.基于相对方位的多机器人合作定位算法.传感技术学报, 2007, 20(4): 794799)
[43]  Wang Ling, Shao Jinxin, Wan Jianwei, et al. Distributed Entropy Based Relative Observation Selection for MultiRobot Localization. Acta Electronica Sinica, 2007, 35(2): 333336 (in Chinese) (王 玲,邵金鑫,万建伟,等.多机器人定位中基于熵的分布式观测量选择方法.电子学报, 2007, 35(2): 333336)
[44]  Jiang Jian, Zhao Jie, Li Likun. SoundBased Collaborative Direction Estimation for Warm Robotic Systems. Acta Automatica Sinica, 2007, 33(4): 385390 (in Chinese) (姜 健,赵 杰,李力坤.面向群智能机器人系统的声音协作定向.自动化学报, 2007, 33(4): 385390)
[45]  Cui X, Hardin C T, Ragade R K, et al. A Swarm Approach for Emission Source Localization // Proc of the 16th IEEE International Conference on Tools with Artificial Intelligence. Boca Raton, USA, 2004: 424430
[46]  Martinson E, Payton D. Lattice Formation in Mobile Autonomous Sensor Arrays // Proc of the SAB Workshop on Swarm Robotics. Santa Monica, USA, 2004: 98111
[47]  Pugh J, Martinoli A. Relative Localization and Communication Module for SmallScale MultiRobot Systems // Proc of the IEEE International Conference on Robotics and Automation. Miami, USA, 2006: 188193
[48]  Pugh J, Martinoli A. Inspiring and Modeling MultiRobot Search with Particle Swarm Optimization // Proc of the 4th IEEE Swarm Intelligence Symposium. Honolulu, USA, 2007: 332339
[49]  Rothermich J A, Ecemis M I, Gaudiano P. Distributed Localization and Mapping with a Robotic Swarm // Proc of the SAB Workshop on Swarm Robotics. Santa Monica, USA, 2004: 5869
[50]  Spears W, Hamann J, Maxim P, et al. Where Are You? // Proc of the SAB Workshop on Swarm Robotics. Rome, Italy, 2006: 5763
[51]  Kelly I, Martinoli A, Scalable A. OnBoard Localisation and Communication System for Indoor MultiRobot Experiments. Sensor Review, 2004, 24(2): 167180
[52]  Zhang Houxiaang, Wang Wei, Deng Zhicheng, et al. A Novel Reconfigurable Robot for Urban Search and Rescue. International Journal of Advanced Robotic Systems, 2006, 3(4): 359366
[53]  Mondada F, Bonani M, Magnenat S, et al. Physical Connections and Cooperation in Swarm Robotics // Proc of the 8th Conference on Intelligent Autonomous Systems. Amsterdam, Netherlands, 2004: 5360
[54]  Wang Jianzhong, Liu Jingjing. Infrared Positioning and Docking in SelfReconfigurable Microrobots. Transactions of Beijing Institute of Technology, 2006, 26(10): 879882 (in Chinese) (王建中,刘晶晶.微小型多机器人自重构的红外定位及对接方法.北京理工大学学报, 2006, 26(10): 879882)
[55]  Li Xia, Dai Ruwei. Emergence-A New Concept of System Research. Control and Decision, 1999, 14(2): 97102 (in Chinese) (李 夏,戴汝为.突现(emergence)——系统研究的新观念.控制与决策, 1999, 14(2): 97102)
[56]  Dorigo M, Bonabeaub E, Theraulaz G. Ant Algorithms and Stigmergy. Future Generation Computer Systems, 2000, 16(8): 851871
[57]  Merkle D, Middendorf M. An Ant Algorithm with a New Pheromone Evaluation Rule for Total Tardiness Problems // Proc of the Workshop on RealWorld Applications of Evolutionary Computing. Edinburgh, UK, 2000: 287296
[58]  Duan Haibin, Wang Daobo, Zhu Jiaqiang, et al. Development on Ant Colony Algorithm Theory and Its Application. Control and Decision, 2004,19(12): 13211326,1340 (in Chinese) (段海滨,王道波,朱家强,等.蚁群算法理论及应用研究的进展.控制与决策, 2004,19(12): 13211326,1340)
[59]  Dorigo M, Stützle T. The Ant Colony Optimization Metaheuristic: Algorithms, Applications and Advances. Technical Report, IRIDIA200032, Brussels, Belgium: Université Libre de Bruxelles. IRIDIA, 2000
[60]  Kennedy J, Eberhart R. Particle Swarm Optimization // Proc of the IEEE International Conference on Neural Networks. Perth, Australia, 1995, IV:19421948
[61]  Zeng Jianchao, Jie Jian, Cui Zhihua. Particle Swarm Optimization. Beijing, China: Science Press, 2004 (in Chinese) (曾建潮,介 婧,崔志华.微粒群算法.北京:科学出版社, 2004)
[62]  Beni G. From Swarm Intelligence to Swarm Robotics // Proc of the SAB International Workshop on Swarm Robotics. Santa Monica, USA, 2004: 19
[63]  Winfield A F T, Harper C J, Nembrini J. Towards Dependable Swarms and a New Discipline of Swarm Engineering // Proc of the SAB Workshop on Swarm Robotics. Santa Monica, USA, 2004: 126142
[64]  Wang Mei, Zhu Yunlong, He Xiaoxian. A Survey of Swarm Intelligence. Computer Engineering, 2005, 31(22):194196 (in Chinese) (王 玫,朱云龙,何小贤.群体智能研究综述.计算机工程, 2005, 31(22): 194196)
[65]  Lan Ting, Liu Shirong. Research on MultiRobot System Inspired by Biological Swarm Intelligence. Robot, 2007, 29(3): 298304 (in Chinese) (蓝 艇,刘士荣.受生物群体启发的多机器人系统研究.机器人, 2007, 29(3): 298304)
[66]  Bayindir L, Sahin E. A Review of Studies in Swarm Robotics. Turkish Journal of Electrical Engineering and Computer Sciences, 2007, 15(2):115147
[67]  Fukuda T, Nakagawa S. Approach to the Dynamically Reconfigurable Robotic System. Journal of Intelligent and Robotic Systems,1988, 1(1): 5572
[68]  Beni G. Order by Disordered Action in Swarms // Proc of the SAB Workshop on Swarm Robotics. Santa Monica, USA, 2004: 153171
[69]  Zhang Haiying, Liu Zuoshi, Lin Guijuan. Today and Tomorrow: Research on Swarm Robotics. Application of Electronic Technique, 2004, 30(2): 13 (in Chinese) (张海英,刘祚时,林桂娟.群体机器人研究的现状和发展.电子技术应用, 2004, 30(2): 13)
[70]  Sahin E. Swarm Robotics: From Sources of Inspiration to Domains of Application // Proc of the SAB Workshop on Swarm Robotics. Santa Monica, USA, 2004: 1020
[71]  Akyildiz I F, Su W, Sankarasubramaniam Y, et al. Wireless Sensor Networks: A Survey. Computer Networks, 2002, 38(4): 393422

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133