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题名: Improved Hormone-Inspired Model for Hierarchical Self-organization in Swarm Robotics
作者: Leng YQ(冷雨泉); Han XN(韩小宁); Zhang W(张伟); Zhou WJ(周维佳)
作者部门: 空间自动化技术研究室
会议名称: 7th International Conference on Swarm Intelligence (ICSI 2016)
会议日期: June 25-30, 2016
会议地点: Bali, Indonesia
会议录: Advances in Swarm Intelligence
会议录出版者: Springer Verlag
会议录出版地: Berlin
出版日期: 2016
页码: 535-543
收录类别: CPCI(ISTP)
ISSN号: 0302-9743
ISBN号: 978-3-319-41008-1
关键词: Improved hormone-inspired ; Hierarchical self-organization ; Swarm robotics
摘要: More and more robotic systems with lots of robotic individuals severs for human, such as intelligent terminal, intelligent storage, intelligence factory, etc. This is the trend of robotics technology, which will lead robotics system become huger with more individuals. Then, how to organize and manage this huge robotic system will be one important issue. This paper proposes hierarchical self-organizing approach to realize self-management, self-organization. Firstly, hierarchical self-organizing model is put forward and the process of formation is described in detail, which makes the organizing structure of system regularly. Secondly, this paper uses the improved hormone-inspired model (IHM) to establish relation between individuals, which considers topological structure of the organization, supports dynamic reconfiguration and self-organization, and requires no globally certain identifiers for individual robots. Finally, this paper presents the experimental results on swarm robotics system with a large scale of individuals to form a self-organization.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/19244
Appears in Collections:空间自动化技术研究室_会议论文

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Recommended Citation:
Leng YQ,Han XN,Zhang W,et al. Improved Hormone-Inspired Model for Hierarchical Self-organization in Swarm Robotics[C]. 见:7th International Conference on Swarm Intelligence (ICSI 2016). Bali, Indonesia. June 25-30, 2016.
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文件名: Improved Hormone-Inspired Model for Hierarchical Self-organization in Swarm Robotics.pdf
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