Self-organizing control strategy for group robotics

摘要

This paper descries a self-organizing coordination strategy for group robotics. While the distributed autonomous robot system has advantages in flexibility of the system, it has also difficulties in coordinating a global system as the designer expects. Self-organization is a natural principle in which process functions group toward a certain attractor. These properties of self-organization can give controllability for the coordination of group behavior. We emphasize the functional aspect of temporal self-organization. Modeling and analysis of group behavior is firstly made, then we perform the simulation to verify the theoretical description. In particular, self-organization of temporal behavior patterns is utilized for group level cooperation in this paper.