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Lattice-based artificial endocrine system model and its application in robotic swarms

查看全文 作　　者：XU [1,2]QingZheng;WANG [1]Lei 高影响力作者 机构地区：[1]School of Computer Science and Engineering, Xi'an University of Technology, Xi'an 710048, China;[2]Xi'an Communication Institute, Xi'an 710106, China高影响力机构 出　　处：《Science China(Information Sciences)》索引2011年第54卷第4期,共17页高影响力期刊 基　　金：supported by the National Natural Science Foundation of China (Grant Nos. 61073091, 60802056);the Natural Science Foundation of Shaanxi Province (Grant No. 2010JM8028);the Foundation of Excellent Doctoral Dissertation of Xi'an University of Technology (Grant No. 105-211010) 摘　　要：To solve the problem of controlling robot swarms in a distributed manner,we propose a novel latticebased artificial endocrine system (LAES) model,inspired by modern endocrinology theory.Based on a latticed environment,relying on cell intelligentization,connected by cumulative hormones,and directed by target cells,the LAES model can finally adapt to the continuous volatility of the external environment and maintain the relevant stability of the internal dynamics of the system,thus exhibiting the self-organizing and self-repairing features of the biological endocrine system.Experiments show that the LAES model enables a robotic swarm to search an unfamiliar space and seize multiple targets automatically without using unique global identifiers or a centralized control strategy for the individual robots.This demonstrates that the model can reliably be used to simulate large scale swarm behavior through wireless communication. 关 键 词：内分泌系统 机器人群 模型 人工 应用 外部环境 经济模式 个人机器人
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