レヴィフライトを用いたスワームロボットのターゲット探索

―だまし環境における探索性能の検証―

抄録

This study tackles the task for swarm robotics where robots explore the environment to detect a target. Once a robot detects a target, robots immediately communicate with a base station via intermediate relay robots due to the multi-hop transmission of wireless communication. In our previous results, we confirmed that Lévy flight outperformed the usual random walk for exploration strategy in real swarm robots experiment. This study investigated the performance of Lévy flight on a target detection problem in a weakly deceptive environment through a series of real swarm robots experiments. The results suggest that the deceptive environment can weaken the performance of exploration as well as the increase of the number of robots improves the performance in the environment.