レヴィフライトを用いたスワームロボットネットワークによる探索

— 掃引作業に関する計算機実験を用いた検証 —

抄録

This study tackles the task for swarm robotics where robots explore the environment to detect many targets. When a robot detects a target, the robot must be connected with a base station via intermediate relay robots for wireless communication. In our previous results, we confirmed that Lévy flight outperformed the usual random walk for exploration strategy in real robot experiment. This paper investigated the performance of several Lévy flight formulations on a sweeping task through a series of computer simulations. The results suggest that the approximated Lévy flight formulation outperforms the others.