Abstract
Swarm robotics is a new research field of multi-robot systems which generally consists of many homogeneous autonomous robots without a global controller. Since a robotic swarm is controlled by an emergent way of many interactions with the other robots or an environment, such as a result of self-organization, robot learning or artificial evolution, no method has been known to grasp the macroscopic collective behavior in a practical sense, according to the best of our knowledge. In this paper, based on this situation, a novel method for analyzing the macroscopic collective behavior inspired by a technique in the field of complex network is proposed. The effectiveness of the proposed method is demonstrated on a robotic swarm behavior for the cooperative transport problem by extracting the community structure based on the modularity optimization.
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Ohkura, K., Yasuda, T., Morishita, C., Matsumura, Y. (2013). Cluster Analysis of Collective Behavior for a Robotic Swarm. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 194. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33932-5_84
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DOI: https://doi.org/10.1007/978-3-642-33932-5_84
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