Achieving Consensus in Robot Swarms

Design and Analysis of Strategies for the best-of-n Problem

von Gabriele Valentini

146 Seiten, Taschenbuch

Kurzbeschreibung des Verlags

This book focuses on the design and analysis of collective decision-making strategies for the best-of-n  problem. After providing a formalization of the structure of the best-of-n  problem supported by a comprehensive survey of the swarm robotics literature, it introduces the functioning of a collective decision-making strategy and identifies a set of mechanisms that are essential for a strategy to solve the best-of-n  problem. The best-of-n problem is an abstraction that captures the frequent requirement of a robot swarm to choose one option from of a finite set when optimizing benefits and costs. The book leverages the identification of these mechanisms to develop a modular and model-driven methodology to design collective decision-making strategies and to analyze their performance at different level of abstractions. Lastly, the author provides a series of case studies in which the proposed methodology is used to design different strategies, usingrobot experiments to show how the designed strategies can be ported to different application scenarios.

• Reihe: Studies in Computational Intelligence
• Themen: Informatik und Informationstechnologie Informatik Künstliche Intelligenz (KI)
• ISBN: 9783319851969
• Sprache: Englisch
• Erscheinungsdatum: 04.05.2018
• Größe: 23.5 x 15.5 cm
• Verlag: Springer International Publishing