Abstract
Target enclosure by autonomous robots is useful for many practical applications, for example, surveillance of disaster sites. Scalability is important for autonomous robots because a larger group is more robust against breakdown, accidents, and failure. However, it is more difficult to operate a larger group of robots because their individual capacity for recognizing team-mates should be higher. In this paper, to achieve a highly scalable target enclosure model, we demonstrate a new condition for Takayama’s enclosure model. The original model requires a static relationship between agents. However, robots can form an enclosure even under a dynamic topology on the basis of a nearest neighbor graph; hence, they do not require recognition capability. We confirm this by an analytical discussion of switched systems and a series of computer simulations.
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This work was presented in part at the 17th International Symposium on Artificial Life and Robotics, Oita, Japan, January 19–21, 2012.
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Kubo, M., Yoshimura, T., Yamaguchi, A. et al. Individual recognition-free target enclosure model. Artif Life Robotics 17, 11–16 (2012). https://doi.org/10.1007/s10015-012-0010-z
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DOI: https://doi.org/10.1007/s10015-012-0010-z