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Improved Hormone-Inspired Model for Hierarchical Self-organization in Swarm Robotics
Leng YQ(冷雨泉); Han XN(韩小宁); Zhang W(张伟); Zhou WJ(周维佳)
Department空间自动化技术研究室
Conference Name7th International Conference on Swarm Intelligence (ICSI 2016)
Conference DateJune 25-30, 2016
Conference PlaceBali, Indonesia
Source PublicationAdvances in Swarm Intelligence
PublisherSpringer Verlag
Publication PlaceBerlin
2016
Pages535-543
Indexed ByEI ; CPCI(ISTP)
EI Accession number20174604406270
WOS IDWOS:000386324000058
Contribution Rank1
ISSN0302-9743
ISBN978-3-319-41008-1
KeywordImproved Hormone-inspired Hierarchical Self-organization Swarm Robotics
AbstractMore 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19244
Collection空间自动化技术研究室
Corresponding AuthorHan XN(韩小宁)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, University of Chinese Academy of Sciences, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100000, China
Recommended Citation
GB/T 7714
Leng YQ,Han XN,Zhang W,et al. Improved Hormone-Inspired Model for Hierarchical Self-organization in Swarm Robotics[C]. Berlin:Springer Verlag,2016:535-543.
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