Publications (2)0 Total impact
Auton. Robots. 01/2006; 20:125-136.
Conference Proceeding: Kansas State Robotics.Proceedings of the Fourteenth National Conference on Artificial Intelligence and Ninth Innovative Applications of Artificial Intelligence Conference, AAAI 97, IAAI 97, July 27-31, 1997, Providence, Rhode Island.; 01/1997
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ABSTRACT: derstand the eect,of interference on scaling issues. We have abstracted the problem into a cellular automata (CA) simulation. Specically, we modeled a robot as a wanderer [Ma95], capable of avoiding collision with obstacles (including other robots, walls and tagged-targets), with a non-directional heat sensor for detecting targets and a sonar sensor for determining direction when a heat source is detected. The sonar is incapable of dierentiating,between targets and obstacles. Intuitively, one might think that increasing robot numbers, or sensor strength would be benecial. However, experience suggests that path and sensor interference caused by an increased number,of robots and sensor range is often harmful. The following investigation used several models to elucidate the issues of robot scaling and sensor noise. Our initial cellular automaton was one dimensional with a width of 20 cells. The robots were either left moving or right moving, with two targets placed at end points. When a robot is next to a target, the target is tagged and becomes an obstacle. The robot’s sonar detect objects, either targets or other robots, within a specied distance, S. The robot’s heat sensor detects heat