Group of robots without specific sensors for mutual discrimination and an ability as a group

Abstract

Collective mode of robots that aimlessly move around without specific sensors for mutual discrimination is presented and applied to task of transportation. To systemize low cost group of robots, we assume that each robot senses neiboring ones only when they collide. Mathematical condition of possibility of transportation task is shown by making use of virial theorem in conservative dynamical systems and an idea of canonical ensemble in statistical mechanics. Simulation results are presented to validate our scheme.