| アイテムタイプ |
共通アイテムタイプ(1) |
| 公開日 |
2025-01-22 |
| タイトル |
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|
タイトル |
Generating and Analyzing Collective Step-Climbing Behavior in a Multi-legged Robotic Swarm |
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言語 |
en |
| 著者 |
森本, 大智
Hiraga, Motoaki
Ohkura, Kazuhiro
Munetomo, Masaharu
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| 著作権関連情報 |
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権利情報 |
Copyright (c) This is a post-peer-review, pre-copyedit version of an article published in Lecture Notes in Computer Science. The final authenticated version is available online at: https://doi.org/10.1007/978-3-031-20176-9_29. |
| 抄録 |
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内容記述タイプ |
Abstract |
|
内容記述 |
This paper focuses on generating and analyzing collective step-climbing behavior in a multi-legged robotic swarm. The multi-legged robotic swarm is expected to climb obstacles that are hard for a single robot by using other robots as stepping stones. However, designing a robot controller for a multi-legged robotic swarm becomes a challenging problem because it designs not only a gait for the basic movement of robots but also the behavior of robots to exhibit collective behavior. This paper employs the evolutionary robotics (ER) approach for designing a robot controller that consists of a recurrent neural network. The controllers are evaluated in the collective step-climbing task conducted by computer simulations. The results show that the ER approach successfully designed the robot gait to achieve the task. Additionally, the results of the analysis confirm that the robot obtained the actions to support other robots along with climbing other robots. |
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言語 |
en |
| 備考 |
|
|
内容記述タイプ |
Other |
|
内容記述 |
13th International Conference on Swarm Intelligence, ANTS 2022, November 2–4, 2022, Málaga, Spain |
|
言語 |
en |
| 書誌情報 |
en : Lecture Notes in Computer Science
巻 13491,
p. 324-331,
発行日 2022-10-29
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| 出版社 |
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出版者 |
Springer |
| 言語 |
|
|
言語 |
eng |
| 資源タイプ |
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|
資源タイプ識別子 |
http://purl.org/coar/resource_type/c_6501 |
|
資源タイプ |
journal article |
| 出版タイプ |
|
|
出版タイプ |
AM |
|
出版タイプResource |
http://purl.org/coar/version/c_ab4af688f83e57aa |
| DOI |
|
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|
識別子タイプ |
DOI |
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|
関連識別子 |
https://doi.org/10.1007/978-3-031-20176-9_29 |
| ISBN |
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|
識別子タイプ |
ISBN |
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|
関連識別子 |
978-3-031-20176-9 |
| ISSN |
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|
収録物識別子タイプ |
PISSN |
|
収録物識別子 |
0302-9743 |
| ISSN |
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収録物識別子タイプ |
EISSN |
|
収録物識別子 |
1611-3349 |
| 会議記述 |
|
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会議名 |
International Conference on Swarm Intelligence |
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回次 |
13 |
|
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開始年 |
2022 |
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開始月 |
11 |
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開始日 |
2 |
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終了年 |
2022 |
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終了月 |
11 |
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終了日 |
4 |
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開催国 |
ESP |
| 査読の有無 |
|
|
値 |
yes |
| 研究者情報 |
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|
URL |
https://hyokadb02.jimu.kyutech.ac.jp/html/100001769_ja.html |
| 論文ID（連携） |
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|
値 |
10430269 |
| 連携ID |
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|
値 |
12210 |
10430269.pdf (4.9 MB)
