Collective robotics: from local perception to global action

摘要

Does coherent behaviour require an explicit mechanism of cooperation? In this dissertation, the relationship between local perception and global action in a system of multiple mobile robots was examined for a collective box-pushing task. The problem investigated was how local sensing could be used to coordinate the individual motor responses of a system of robots in a coherent manner, using only implicit communication through the task. The task was to move a large box from an initially unknown position to a specified goal location. The central thesis put forward, is that for the box-pushing task a coherent behaviour is possible, without an explicit mechanism of cooperation, by using the mass effect of a system of redundant robots. Preliminary work in collective robotics appeared to lend weight to the hypothesis that collective tasks, by multi-robot systems, are possible without centralized control or explicit inter-robot communications, two common control mechanisms used for cooperati...