群ロボットの凝集的な振る舞い創発のための分散制御則

抄録

This paper reports an extension of a mathematical model which presents cohesive behaviors of actual animal swarms. The behavior are benefit for artificial swarm robot systems, however the model is unfit to implement in robots as a distributed controller. Especially, because the model considers that each individuals is move in discrete time-space domain, we have to discuss any collisions between the individuals in continuous domain for the implementation in the robots. A result with applying a mutual collision avoidance method is shown, and an opinion about a relationship between the cohesive behavior and the individual body size is expressed here.