Abstract
Embodiment has been discussed until now from various points of view. For example, the embodiment includes not only simple physical properties but also the individual properties obtained by experience and learning according to the discussion by Merleau=Ponty. Furthermore, the concepts and methodologies to expand the embodiment of a person have been discussed in the research direction of Kukanchi. In this paper, we discuss the multi-robot formation composed of multiple robots from the viewpoint of embodiment. The monitoring by multiple distributed robots is sometimes more effective than that by one robot with high performance. It is necessary for each robot to be aware of its position relative to other robots and to constitute a formation so that a multi-robot performs the monitoring and seeking more effectively as a whole system. Since their facing environment changes every moment, the suitable shape of multi-robot formation also should change. In this paper, we propose a method for constituting the formation of a multi-robot according to the dynamically changing environment. First, we applied a method of multi-objective behavior coordination for integrating behavior outputs from the fuzzy control for collision avoidance and target tracing. Furthermore, we apply a spring model to calculate the suitable target position of each robot for the formation behavior. We discuss the proposed method from the concepts of loose coupling and tight coupling. The tight coupling is realized by the spring model while the loose coupling is realized by the individual decision making based on connection and disconnection with other robots. Next, we propose a method for changing the shape for the formation behavior based on the update of connection relationship and natural length of springs according to the change of environmental conditions. The proposed method is applied to the formation change from triangular formation to column formation according to the change of road width. Furthermore, the proposed method is applied to the monitoring in unknown environments. Finally, we discuss the effectiveness of the proposed method from the viewpoint of embodiment through several simulation results.
