Swarm robots using Lévy walk based on nonlinear dynamics for target exploration

This study tackles a task for swarm robotics, where robots explore the environment to detect targets. When a robot detects a target, the robot must be connected with a base station via intermediate relay robots for wireless communication. Our previous results confirmed that the Lévy walk outperforme...

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Bibliographic Details
Published in:Artificial life and robotics 2022, Vol.27 (2), p.226-235
Main Authors: Katada, Yoshiaki, Yamashita, Kaito
Format: Article
Language:English
Subjects:
Artificial Intelligence
Computation by Abstract Devices
Computer Science
Control
Exploration
Mechatronics
Nonlinear dynamics
Original Article
Random walk
Robotics
Robots
Target detection
Wireless communications
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Summary:This study tackles a task for swarm robotics, where robots explore the environment to detect targets. When a robot detects a target, the robot must be connected with a base station via intermediate relay robots for wireless communication. Our previous results confirmed that the Lévy walk outperformed the usual random walk for exploration in real robot experiments. This paper investigated the performance of a new Lévy walk generator based on nonlinear dynamics, which is recently proposed in biology, for the target exploration problem on robotics through a series of computer simulations and real experiments, and compared the performance with those for the Lévy walk generator based on probability employed in our previous work. The results suggest that the search of the new Lévy walk, based on nonlinear dynamics, is robust for target distribution and outperforms the one based on probability for search efficiency.
ISSN:1433-5298
1614-7456
DOI:10.1007/s10015-022-00740-3