engleski

Collective search and decision making for target localization

In this article we investigate properties of collective search and decision making in robotic swarm, inspired by phenomena witnessed in bio-societies. The task of the proposed robotic swarm, comprised of scouts and labourers, is to nd the most hazardous target in prede ned area. Since in the proposed scenario the time interval for decision-making is prede ned, robotic scouts have to detect targets within a particular amount of time. Hence, in the rst part of the paper, we de ne a model of scout movement that enhance the explored area. As we want to keep the searching process as simple as possible, and at the same time to mimic social insect behavior, particular type of correlated random walk is used for exploration. The second part of the paper deals with modeling the decision-making process in the robotic swarm. Using random walk theory we determine under which circumstances all agents (or particular number of them) would be committed to the most hazardous target at the moment when the prede ned time interval for decision-making expires.

swarm robotics; correlated random walk; decision-making process ;

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