In this study, a systematic analysis of probabilistic aggregation strategies in swarm
robotic systems is presented. A generic aggregation behavior is proposed as a combination
of four basic behaviors: obstacle avoidance, approach, repel, and wait. The latter
three basic behaviors are combined using a three-state finite state machine with two
probabilistic transitions among them. Two different metrics were used to compare
performance of strategies. Through systematic experiments, how the aggregation
performance, as measured by these two metrics, change 1) with transition probabilities,
2) with number of simulation steps, and 3) with arena size, is studied.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/12606460/index.pdf |
| Date | 01 September 2005 |
| Creators | Soysal, Onur |
| Contributors | Sahin, Erol |
| Publisher | METU |
| Source Sets | Middle East Technical Univ. |
| Language | English |
| Detected Language | English |
| Type | M.S. Thesis |
| Format | text/pdf |
| Rights | To liberate the content for public access |
Page generated in 0.0021 seconds