群知能ロボットの研究: 局所相互作用による群行動

摘要

Even if one individual ability is limited, living things such as insects, fish and a birds are able to behave orderly by forming a swarm or a flock. Presently, there are ample studies investigating swarm intelligence. These studies mainly focus on simulation by using software. However, very limited number of research has done using robots. The purposes of the present study are to demonstrate how to enhance swarm actions to three dimensions by using airship and mobile robots, and to analyze it.rnIn this study, we investigated behaviors of fish that forms a school and lives in a group by suing the airship and mobile robots. We used the robot which is equipped with ultrasound sensors and pressure altitude meter and wireless communications. As a result, we made it possible for a swarm intelligence from two dimensions into three dimensions.%自然界には昆虫や魚，鳥といった多くの生物が群れを形成し生息している．このような単体での能力が低い個体は，単純なルールで群れを形成することにより，複雑かつ秩序ある作業を行うことができる．これを群知能（Swarm Intelligence,SI）と呼ぶ．このような群れの研究は数多く行われているが，現在はシミュレーションが主で，ロボットを用いた実験は少ない．