Title :
Connectivity and stability in robotic swarm system with anisotropic neighbors
Author :
Naruse, Keitaro ; Kuwabara, Taku ; Sato, Tatsuya
Abstract :
Most of robotic systems introduce an isotropic neighbor area, such as a circle, for robot communication and interaction because it reflects a natural property of some physical sensors and devices. On the other hand, it has reported that starling birds in nature employ anisotropic neighbor, for example an ellipse, for neighbor observation. In this paper, we introduce the anisotropic neighbor to a robotic swarm system, and we investigate how it affects to the connectivity and stability of the system.
Keywords :
human-robot interaction; particle swarm optimisation; stability; anisotropic neighbors; ellipse; isotropic neighbor area; neighbor observation; physical devices; physical sensors; robot communication; robot interaction; robotic swarm system; robotic systems; starling birds; system connectivity; system stability; Birds; Eigenvalues and eigenfunctions; Laplace equations; Numerical models; Robot sensing systems; Stability analysis;
Conference_Titel :
System Integration (SII), 2011 IEEE/SICE International Symposium on
Conference_Location :
Kyoto
Print_ISBN :
978-1-4577-1523-5
DOI :
10.1109/SII.2011.6147533
