A Design Method of Optimal Communication Area in Multiple Mobile Robot System.

摘要

This paper presents a method for optimal design of local communication area. Despite many studies of local communication for multiple mobile robots, communication area has not been designed based on mathematical analysis, but on only time-consuming simulations of many-robot communication. We therefore analyzed the efficiency of information transmission, and derived the optimal communication area which minimizes the information transmission time to multiple robots. This optimization mainly consists of two steps. First, we derive the“information transmission probability”for various task models. And next, as the evaluation function to minimize, the information transmission time is represented using the derived information transmission probability. The analytical results are also verified by computer simulations of many-robot communication.