光源運動による葉緑体ロボット群の外的制御

抄録

In this paper, we focus on the emergence of swarm robotic systems. Thus far, we have presented a chloroplastic robots system. Chloroplastic robots are allowed to swarm around a light source while avoiding shadows and obstacles. However, a fixed light source has been assumed. In order for the chloroplastic robots to cover shadow areas due to obstacles, we move the light source in an adaptive manner. In this regard, the formation of the chloroplastic robots is broken if the light source moves without considering the arrangement of the robots. For this challenge, we propose an external formation control of the robots based on the moving light source. Through simulation experiments, the effectiveness of the proposed control for the reformation of the robots is discussed.