Small Intelligent Robotics Suiting for Multi-robot System, toward the Fundamental Abilities of Object-Searching, Object-Fetching and Object-Classifying

摘要

This paper introduce the possibility of the technology of real simple intelligent robotics for multi-robot system. The essentials are giving a simple mechanical function and giving a simple algorithm to robot modules as much as possible. This paper deals with fundamental abilities of multi-robot system, object-searching, object-fetching and object-classifying. At the first, placing robots on a square area bounded with walls, the robots are given an algorithm for simple locomotion with obstacle avoidance. Then, increasing the population size of the robots, their moving pattern is being like one of random-walk manner. The second, adding signal-transmission algorithm for local communication to the robots, in enough size of the population the directions of the transmitted signals make a coordinate vector field. Then, placing another robots given a locomotion algorithm for following the direction of signal reception in the vector filed, the robots individually converge to the original signal transmission robot. The third, contacting enough robots around two-dimensional object in close order. The robots relayed a signal transmission in going around the object. Then, the frequencies of the emitting signal in time steps were shown in a specific pattern corresponding to the shape of the object. It is expected to classify the object. Finally, we summarize those emergent behaviors from the viewpoint of small intelligent robotics for multi-robot system.