Dynamical Behavior of Multi-Robot Systems Using Lattice Gas Automata

Released on by
preview-18

  • Dynamical Behavior of Multi-Robot Systems Using Lattice Gas Automata Book Detail

  • Author :
  • Release Date : 1999
  • Publisher :
  • Genre :
  • Pages : 13
  • ISBN 13 :
  • File Size : 82,82 MB
DOWNLOAD BOOK

Dynamical Behavior of Multi-Robot Systems Using Lattice Gas Automata by PDF Summary

Book Description: Recent attention has been given to the deployment of an adaptable sensor array realized by multi-robotic systems. Our group has been studying the collective behavior of autonomous, multi-agent systems and their applications in the area of remote-sensing and emerging threats. To accomplish such tasks, an interdisciplinary research effort at Sandia National Laboratories are conducting tests in the fields of sensor technology, robotics, and multi-robotic and multi-agents architectures. Our goal is to coordinate a constellation of point sensors that optimizes spatial coverage and multivariate signal analysis using unmanned robotic vehicles (e.g., RATLERs, Robotic All-ten-sin Lunar Exploration Rover-class vehicles). Overall design methodology is to evolve complex collective behaviors realized through simple interaction (kinetic) physics and artificial intelligence to enable real-time operational responses to emerging threats. This paper focuses on our recent work understanding the dynamics of many-body systems using the physics-based hydrodynamic model of lattice gas automata. Three design features are investigated. One, for single-speed robots, a hexagonal nearest-neighbor interaction topology is necessary to preserve standard hydrodynamic flow. Two, adaptability, defined by the swarm's deformation rate, can be controlled through the hydrodynamic viscosity term, which, in turn, is defined by the local robotic interaction rules. Three, due to the inherent non-linearity of the dynamical equations describing large ensembles, development of stability criteria ensuring convergence to equilibrium states is developed by scaling information flow rates relative to a swarm's hydrodynamic flow rate. An initial test case simulates a swarm of twenty-five robots that maneuvers past an obstacle while following a moving target. A genetic algorithm optimizes applied nearest-neighbor forces in each of five spatial regions distributed over the simulation domain. Armed with knowledge, the swarm adapts by changing state in order to avoid the obstacle. Simulation results are qualitatively similar to lattice gas.

Disclaimer: www.yourbookbest.com does not own Dynamical Behavior of Multi-Robot Systems Using Lattice Gas Automata books pdf, neither created or scanned. We just provide the link that is already available on the internet, public domain and in Google Drive. If any way it violates the law or has any issues, then kindly mail us via contact us page to request the removal of the link.

Synergetic Agents

Synergetic Agents

File Size : 77,77 MB
Total View : 2096 Views
DOWNLOAD

This book addresses both multi robot systems and miniaturization to the nanoscale from a unifying point of view, but without leaving aside typical particulariti

Robots and Lattice Automata

Robots and Lattice Automata

File Size : 43,43 MB
Total View : 8786 Views
DOWNLOAD

The book gives a comprehensive overview of the state-of-the-art research and engineering in theory and application of Lattice Automata in design and control of