D-World: Decay Small-World for Optimizing Swarm Knowledge Synchronization

摘要

Knowledge synchronization in robot swarm systems is a challenging task under communication constraints. Swarm robots cannot maintain the complete communication structure with classic fixed communication network, which leads to the decline of motion decision effects. It is expected to improve the performance of swarm robot motion decisions under communication constraints with more researches on dynamic complex networks. This study established a feedback search control model for robot swarm systems for target search tasks in a 3D environment. Inspired by the WS model, which showed good synchronization performance in complex systems owing to its small average shortest path length, a novel dynamic small-world network model called decay small-world was proposed for negative impact of communication constraints. Decay small-world model reconnects robot communication links by controlling the rewired probability based on the half-life formula. It realizes dynamic network topology by decentralized computing. This new model maintains a small-world pattern over time without degenerating it into a random network. Simulations show that good knowledge synchronization of swarm robots can be realized using the decay small-world model. And the results also show that target search performances are promoted by this method.