Investigation of the phase transition phenomenon in a large swarm and application to swarm robotics

2015 Fiscal Year Final Research Report

• Project/Area Number: 25330308
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent robotics
• Research Institution: The University of Aizu
• Principal Investigator: Keitaro Naruse 会津大学, コンピュータ理工学部, 准教授 (10301938)
• Project Period (FY): 2013-04-01 – 2016-03-31
• Keywords: スワームロボティクス / 群れ形成

Outline of Final Research Achievements

The objective of this research project is to model motion of a massively large swarm including millions of individuals, and apply it to control swarm robots. The following three items have been achieved as the result of this project. (1) It is investigated that the phase transition phenomenon in a swarm is caused by the change of neighborhood in a swarm, which is shown by a flocking model and numerical experiments. (2) For flocking, each of the robots should estimate a relative position and velocity of other robots in neighbors in a totally local manner. The distributed Kalman filter has been developed to estimate them using local communication between the robots. (3) The knowledge obtained from the phase transition phenomenon has been applied to a flocking control model and it has become possible to make a large swarm of robots.

Free Research Field

ロボット工学