a large population self-organization in large population of mobile robots.doc

a large population self-organization in large population of mobile robots 导读：就爱阅读网友为您分享以下“self-organization in large population of mobile robots”的资讯，希望对您有所帮助，感谢您对92的支持! 1. Introduction 1.1 Motivation Multi-robot systems are becoming more and more significant in industrial, commercial and scientific applications. The number of robots currently being used in industrial projects is increasing fast. The rate of scientific and industrial development made way for the use of robots in many fields. Control and communication methods for multiple-robot systems have been investigated by various researchers. Problems such as coordination of multiple manipulators, motion planning and coordination of multi-robot systems are generally approached with a central (hierarchical) controller in mind. Until recently, most of the multirobot systems have been quot;fixedquot; systems without autonomously moving elements. They may consist of several types of robots or manipulators. On the other hand, there is extensive research carried out on autonomous mobile robots. Many solutions to problems including path planning and obstacle avoidance were proposed and tested. However, most of the research on autonomous mobile robots was based on a single robot interacting with its environment. Currently, there is an increasing interest in multiple autonomous mobile robot systems due to their applicability to various tasks such as space missions, operations in hazardous environments, and military operations. Such systems bring in the problems of both multiple robot coordination and autonomous navigation. Again, multiple mobile robots may be controlled by using a hierarchical (cent