2A1-K06 Swarm Robotic Network Using Levy Flight in Target Detection Problem
Yoshiaki Katada, Akihiro NISHIGUCHI, Kazuya MORIWAKI, Ryosuke Watakabe · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2015
One approach in swarm robotics is homogeneous system which is embedded with sensing, computing, mobile and communication components. In this study, a target detection problem, which is one of navigation problems, was employed. Once a robot detects a target, robots immediately communicate with a base station via intermediate relay robots due to the multi-hop transmission of wireless communication. Therefore, it is important to take connectivity of the network into account. This study investigates the performances of the two kinds of random walk algorithm in navigation while loosely ensuring connectivity of the robotic network based on our previous study.