论文标题
集体照相机器人学
Collective phototactic robotectonics
论文作者
论文摘要
合作的任务执行是欧洲社会性的标志，它通过动态不断发展的通信信号在代理与环境之间的本地交互来实现。受社会昆虫的集体行为的启发，他们的动态是由与环境相互作用的调节的，我们表明机器人集体可以通过捕获不稳定成功地对建筑工地进行成核，并合作地建立有组织的结构。相同的机器人集体还可以执行DE-构建，而行为参数的简单更改。这些行为属于沿着一个轴的代理商相互作用（合作）定义的合作行为的二维相空间，而另一个轴则是代理 - 环境的相互作用（收集和沉积）。我们基于行为的机器人设计方法结合了本地规则的原则推导，使集体能够以鲁棒性解决动态变化的环境和丰富的复杂行为。
Cooperative task execution, a hallmark of eusociality, is enabled by local interactions between the agents and the environment through a dynamically evolving communication signal. Inspired by the collective behavior of social insects whose dynamics is modulated by interactions with the environment, we show that a robot collective can successfully nucleate a construction site via a trapping instability and cooperatively build organized structures. The same robot collective can also perform de-construction with a simple change in the behavioral parameter. These behaviors belong to a two-dimensional phase space of cooperative behaviors defined by agent-agent interaction (cooperation) along one axis and the agent-environment interaction (collection and deposition) on the other. Our behavior-based approach to robot design combined with a principled derivation of local rules enables the collective to solve tasks with robustness to a dynamically changing environment and a wealth of complex behaviors.
