论文标题
连续材料的群体机器人技术和复杂行为
Swarm robotics and complex behaviour of continuum material
论文作者
论文摘要
在群体机器人技术中，就像自然界的动物群一样，目标之一是达到并保持所需的配置。实现这一目标的团队的可能性之一就是查看其邻居在做什么。此方法仅通过引用邻居的运动来生成一个规则系统，该系统控制单个机器人的运动。在基于位置的动力学中使用了相同的方法来模拟变形下复杂的连续体材料的行为。因此，在以前的一些作品中，我们考虑了粒子的二维晶格，并通过使用从我们在群体机器人方面的经验得出的规则系统来计算其时间演变。粒子的新位置，例如群的元素，取决于其他粒子的空间位置。没有动态，但可以认为是隐藏在行为规则中。在某些简单的情况下，该方法在施加的菌株下重现了可变形物体的行为。在本文中，我们试图强调我们的模型，以突出其限制以及如何改善它们。计算和讨论了其他一些更复杂的示例。已经通过我们开发的软件工具研究了剪切测试，不同的晶格，不同的断裂机制和ASTM样品行为。
In swarm robotics, just as for an animal swarm in Nature, one of the aims is to reach and maintain a desired configuration. One of the possibilities for the team, to reach this aim, is to see what its neighbours are doing. This approach generates a rules system governing the movement of the single robot just by reference to neighbour's motion. The same approach is used in position based dynamics to simulate behaviour of complex continuum materials under deformation. Therefore, in some previous works, we have considered a two-dimensional lattice of particles and calculated its time evolution by using a rules system derived from our experience in swarm robotics. The new position of a particle, like the element of a swarm, is determined by the spatial position of the other particles. No dynamic is considered, but it can be thought as being hidden in the behaviour rules. This method has given good results in some simple situations reproducing the behaviour of deformable bodies under imposed strain. In this paper we try to stress our model to highlight its limits and how they can be improved. Some other, more complex, examples are computed and discussed. Shear test, different lattice, different fracture mechanism and ASTM shape sample behaviour have been investigated by the software tool we have developed.
