The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2022
Session ID : 2A2-Q05
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Development of Devices for Autonomous Decentralized Systems Research
-Evaluation of their Dynamic Characteristics-
*Akira OBATASoichiro SHINODAHayato KAWAHARAKazuyoshi TSUTSUMI
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Abstract

Ants do not act complicatedly as individuals, but when viewed as a group, they work together to protect themselves from foreign enemies and take cooperative actions such as collecting food. They have classes; each ant that is assigned a role cooperates with others and creates a society to prosper the species. Such a system that each element acts autonomously without receiving any information from a central function that integrates the whole but it functions as a whole due to the interaction with others is called an “autonomous decentralized system”. In order for multiple robots to perform cooperative movements in a changing environment, it seems effective to make the robots acquire their own abilities and mutual relationships between them in a learning manner, regarding the whole as an autonomous decentralized system In this study, we evaluate the dynamic characteristics of mobile robots that were designed and prototyped to conduct research.

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© 2022 The Japan Society of Mechanical Engineers
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