Design of Control Policies for Spatially Inhomogeneous Robot Swarms with Application to Commercial Pollination
We present an approach to designing scalable, decentralized control policies that produce a desired collective behavior in a spatially inhomogeneous robotic swarm that emulates a system of chemically reacting molecules. Our approach is based on abstracting the swarm to an advectiondiffusion- reaction partial differential equation model, which we solve numerically using smoothed particle hydrodynamics (SPH), a meshfree technique that is suitable for advectiondominated systems. The parameters of the macroscopic model are mapped onto the deterministic and random components of individual robot motion and the probabilities that determine stochastic robot task transitions. For very large swarms that are prohibitively expensive to simulate, the macroscopic model, which is independent of the population size, is a useful tool for synthesizing robot control policies with guarantees on performance in a top-down fashion. We illustrate our methodology by formulating a model of rabbiteye blueberry pollination by a swarm of robotic bees and using the macroscopic model to select control policies for efficient pollination.
Spring Berman Vijay Kumar Radhika Nagpal
School of Engineering and Applied Sciences,Harvard University,Cambridge,MA 02138 GRASP Laboratory,University of Pennsylvania,Philadelphia,PA 19104
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
378-385
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）