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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Parker, C.A.C. Hong Zhang |
| Copyright Year | 2004 |
| Description | Author affiliation: Dept. of Comput. Sci., Alberta Univ., Edmonton, Alta., Canada (Parker, C.A.C.; Hong Zhang) |
| Abstract | Practical collective robotic systems likely will be confronted with problems which have more than one unique solution. When deciding on which of a set of candidate solutions to a problem to pursue, a collective system should ensure that its members reach a unanimous decision regarding which solution to implement so that the system itself does not split apart with different members pursuing different solutions. If such a split were to occur, much of the collective system's functionality could be lost. In this paper, we present a unique approach to collective decision making that is based on an algorithm employed by a particular species of ant when it chooses a new nest site. We expand the ants' algorithm into a general purpose decision making scheme and apply it to the collective relocation problem. A detailed study of the performance of our decision making algorithm was carried out in simulation using the collective relocation task as a test bed. Consistent system performance was observed across three robot populations. It was found that one particular system variable, the decision quorum threshold played a large role in determining the system's behaviour and that system behaviour was maximized when this variable was set to 50% of the system's population. |
| Starting Page | 375 |
| Ending Page | 380 |
| File Size | 484113 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780384636 |
| DOI | 10.1109/IROS.2004.1389381 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2004-09-28 |
| Publisher Place | Japan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Decision making Robot kinematics Biology computing Multilevel systems Books Biological systems |
| Content Type | Text |
| Resource Type | Article |
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