局所相互作用に基づく自律移動体群の外界センサに応じた分散的状態切替

抄録

In this study, we proposed an automatic state transition algorithm through two types of interactions for a swarm that reflects sensor inputs. Each agent in a swarm is equipped with a phase oscillator whose angular velocity contains sensor input information. In the proposed algorithm, a swarm estimates the unified leader robot that has the maximum sensory input through a conventional local interaction. In addition, the candidate leader robots are always communicated to the whole swarm by a broadcast-type interaction we newly introduced. As a result, the swarm can make a distributed and simultaneous transition to the next state after a unified leader is determined. In the implementation, we verified the proposed method by introducing light as a local interaction and sound wave as a broadcast interaction to distinguish the agent with maximum input and switch state automatically.