論文

査読有り 筆頭著者
2022年9月

Analysis of trade-off between network connectivity robustness versus coverage area of networked multi-robot system

Artificial Life and Robotics
  • Toru Murayama

27
開始ページ
726
終了ページ
733
記述言語
掲載種別
研究論文(学術雑誌)
DOI
10.1007/s10015-022-00794-3

This paper analyzes the relationship between connectivity robustification and coverage control of multi-robot systems. A coverage control is a cooperative task of the system to cover a given area by sensors equipped by the robots, and it requires network connectivity to share the sensing information with each other. Regarding network connectivity, network robustification against robot failure is vital since the robots may fail during their team task. Since the network robustification restricts the configuration space of the robots, we have to pay attention to a quantitative trade-off between the coverage area of a networked multi-robot system and the robustness of the network connectivity. Here we report an analysis result of the trade-off using a one-dimensional network model.

リンク情報
DOI
https://doi.org/10.1007/s10015-022-00794-3
共同研究・競争的資金等の研究課題
群ロボットにおける「働かないロボット」の創発と長時間実験による優位性検証
Scopus
https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85138035112&origin=inward
Scopus Citedby
https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=85138035112&origin=inward
ID情報
  • DOI : 10.1007/s10015-022-00794-3
  • ISSN : 1433-5298
  • eISSN : 1614-7456
  • SCOPUS ID : 85138035112

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