Cooperative Control of Multi-robot System Using Mobile Agent for Multiple Source Localization

摘要

In this paper, we propose a new approach for multiple source localization tasks of multiple robots. Our approach controls robots by mobile agents that behave based on particle swarm optimization. The key process of our algorithm is to make subgroups in the population. In order to make subgroups, we indirectly transfer information using mobile agents instead of through direct communications. We have implemented our approach in a simulator, and conducted experiments to show effectiveness of our approach. Through the experimental results, we have confirmed that our approach is more efficient and less susceptible to initial placement than other approaches.