A 'Breadcrumbs' Model for Controlling an Intrinsically Motivated Swarm Using a Handheld Device

摘要

This paper presents a model for controlling an intrinsically motivated swarm, designed for use on a handheld device. We map touch-screen gestures to a set of 'breadcrumbs' that can be placed to influence the behaviour of the swarm. We describe a prototype system implementing the breadcrumbs model. Then we evaluate the prototype by examining how members of the swarm respond to each breadcrumb. Our results characterize the behaviour of the intrinsically motivated swarm in response to each type of 'breadcrumb' and discuss the implications for swarms of different types of robots.