TY - GEN
T1 - Simulating swarm robots for collision avoidance problem based on a dynamic Bayesian network
AU - Hirai, Hiroshi
AU - Takano, Shigeru
AU - Suzuki, Einoshin
PY - 2011/7/11
Y1 - 2011/7/11
N2 - This paper presents a simulator for the behaviors of swarm robots based on a Dynamic Bayesian Network (DBN). Our task is to design each robot's controller which enables the robot to patrol as many regions as possible without collisions. As the first step, we use two swarm robots, each of which has two motors each of which is connected to a wheel and three distance-measurement sensors. To design the controllers of these robots, we must determine several parameters such as the motor speed and thresholds of the three sensors. The simulator is used to reduce the number of real experiments in deciding values of such parameters. We fist performed measurement experiments for our real robots in order to get probabilistic data of the DBN. The simulator based on the DBN revealed appropriate values of a threshold parameter and interesting phase transitions of their behaviors in terms of the values.
AB - This paper presents a simulator for the behaviors of swarm robots based on a Dynamic Bayesian Network (DBN). Our task is to design each robot's controller which enables the robot to patrol as many regions as possible without collisions. As the first step, we use two swarm robots, each of which has two motors each of which is connected to a wheel and three distance-measurement sensors. To design the controllers of these robots, we must determine several parameters such as the motor speed and thresholds of the three sensors. The simulator is used to reduce the number of real experiments in deciding values of such parameters. We fist performed measurement experiments for our real robots in order to get probabilistic data of the DBN. The simulator based on the DBN revealed appropriate values of a threshold parameter and interesting phase transitions of their behaviors in terms of the values.
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U2 - 10.1007/978-3-642-21314-4_52
DO - 10.1007/978-3-642-21314-4_52
M3 - Conference contribution
AN - SCOPUS:79959998810
SN - 9783642213137
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 416
EP - 423
BT - Advances in Artificial Life
T2 - 10th European Conference of Artificial Life, ECAL 2009
Y2 - 13 September 2009 through 16 September 2009
ER -