{"title":"Supporting human interaction with robust robot swarms","authors":"S. Kerman, D. Brown, M. Goodrich","doi":"10.1109/ISRCS.2012.6309318","DOIUrl":null,"url":null,"abstract":"In this paper we propose a bio-inspired model for a decentralized swarm of robots, similar to the model proposed by Couzin [5], that allows for dynamic task assignment and is robust to limited communication from a human. We provide evidence that the model has two fundamental attractors: a torus attractor and a flock attractor. Through simulation and mathematical analysis we investigate the stability of these attractors and show that a control input can be used to force the system to change from one attractor to the other. Finally, we generalize another of Couzin's ideas [4] and present the idea of a stakeholder agent. We show how a human operator can use stakeholders to responsively influence group behavior while maintaining group structure.","PeriodicalId":227062,"journal":{"name":"2012 5th International Symposium on Resilient Control Systems","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2012-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"31","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 5th International Symposium on Resilient Control Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISRCS.2012.6309318","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 31
Abstract
In this paper we propose a bio-inspired model for a decentralized swarm of robots, similar to the model proposed by Couzin [5], that allows for dynamic task assignment and is robust to limited communication from a human. We provide evidence that the model has two fundamental attractors: a torus attractor and a flock attractor. Through simulation and mathematical analysis we investigate the stability of these attractors and show that a control input can be used to force the system to change from one attractor to the other. Finally, we generalize another of Couzin's ideas [4] and present the idea of a stakeholder agent. We show how a human operator can use stakeholders to responsively influence group behavior while maintaining group structure.