Ergodic dynamics by design: A route to predictable multi-robot systems

被引：8

作者：

Shell, DA ^{[1
]}

Jones, CV ^{[1
]}

Mataric, MJ ^{[1
]}

机构：

[1] Univ So Calif, Dept Comp Sci, Los Angeles, CA 90089 USA

来源：

MULTI-ROBOT SYSTEMS - FROM SWARMS TO INTELLIGENT AUTOMATA VOL III | 2005年

关键词：

multi-robot systems; ergodicity; formal methods;

D O I：

10.1007/1-4020-3389-3_26

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We define and discuss a class of multi-robot systems possessing ergodic dynamics and show that they are realizable on physical hardware and useful for a variety of tasks while being amenable to analysis. We describe robot controllers synthesized to possess these dynamics and also physics-based methodologies that allow macroscopic structures to be uncovered and exploited for task execution in systems with large numbers of robots.

引用

页码：291 / 297

页数：7

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