Efficient Decision-Making in a Self-Organizing Robot Swarm : On the Speed Versus Accuracy Trade-Off

Lade...
Vorschaubild
Dateien
Zu diesem Dokument gibt es keine Dateien.
Datum
2015
Autor:innen
Valentini, Gabriele
Dorigo, Marco
Herausgeber:innen
Kontakt
ISSN der Zeitschrift
Electronic ISSN
ISBN
Bibliografische Daten
Verlag
Schriftenreihe
Auflagebezeichnung
URI (zitierfähiger Link)
ArXiv-ID
Internationale Patentnummer
Angaben zur Forschungsförderung
Projekt
Open Access-Veröffentlichung
Core Facility der Universität Konstanz
Gesperrt bis
Titel in einer weiteren Sprache
Forschungsvorhaben
Organisationseinheiten
Zeitschriftenheft
Publikationstyp
Beitrag zu einem Konferenzband
Publikationsstatus
Published
Erschienen in
WEISS, Gerhard, ed. and others. AAMAS '15 : Proceedings of the 2015 International Conference on Autonomous Agents and Multiagent Systems. New York, NY: ACM, 2015, pp. 1305-1314. ISBN 978-1-4503-3413-6. Available under: doi: 10.5555/2772879.2773319
Zusammenfassung

We study a self-organized collective decision-making strategy to solve the best-of-n decision problem in a swarm of robots. We define a distributed and iterative decision-making strategy. Using this strategy, robots explore the available options, determine the options' qualities, decide autonomously which option to take, and communicate their decision to neighboring robots. We study the effectiveness and robustness of the proposed strategy using a swarm of 100 Kilobots. We study the well-known speed versus accuracy trade-off analytically by developing a mean-field model. Compared to a previously published simpler method, our decision-making strategy shows a considerable speed-up but has lower accuracy. We analyze our decision-making strategy with particular focus on how the spatial density of robots impacts the dynamics of decisions. The number of neighboring robots is found to influence the speed and accuracy of the decision-making process. Larger neighborhoods speed up the decision but lower its accuracy. We observe that the parity of the neighborhood cardinality determines whether the system will over- or under-perform.

Zusammenfassung in einer weiteren Sprache
Fachgebiet (DDC)
004 Informatik
Schlagwörter
Konferenz
AAMAS '15 : International Conference on Autonomous Agents and Multiagent Systems, 4. Mai 2015 - 8. Mai 2015, Istanbul, Turkey
Rezension
undefined / . - undefined, undefined
Zitieren
ISO 690VALENTINI, Gabriele, Heiko HAMANN, Marco DORIGO, 2015. Efficient Decision-Making in a Self-Organizing Robot Swarm : On the Speed Versus Accuracy Trade-Off. AAMAS '15 : International Conference on Autonomous Agents and Multiagent Systems. Istanbul, Turkey, 4. Mai 2015 - 8. Mai 2015. In: WEISS, Gerhard, ed. and others. AAMAS '15 : Proceedings of the 2015 International Conference on Autonomous Agents and Multiagent Systems. New York, NY: ACM, 2015, pp. 1305-1314. ISBN 978-1-4503-3413-6. Available under: doi: 10.5555/2772879.2773319
BibTex
@inproceedings{Valentini2015-05-04Effic-59892,
  year={2015},
  doi={10.5555/2772879.2773319},
  title={Efficient Decision-Making in a Self-Organizing Robot Swarm : On the Speed Versus Accuracy Trade-Off},
  url={https://dl.acm.org/doi/10.5555/2772879.2773319},
  isbn={978-1-4503-3413-6},
  publisher={ACM},
  address={New York, NY},
  booktitle={AAMAS '15 : Proceedings of the 2015 International Conference on Autonomous Agents and Multiagent Systems},
  pages={1305--1314},
  editor={Weiss, Gerhard},
  author={Valentini, Gabriele and Hamann, Heiko and Dorigo, Marco}
}
RDF
<rdf:RDF
    xmlns:dcterms="http://purl.org/dc/terms/"
    xmlns:dc="http://purl.org/dc/elements/1.1/"
    xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
    xmlns:bibo="http://purl.org/ontology/bibo/"
    xmlns:dspace="http://digital-repositories.org/ontologies/dspace/0.1.0#"
    xmlns:foaf="http://xmlns.com/foaf/0.1/"
    xmlns:void="http://rdfs.org/ns/void#"
    xmlns:xsd="http://www.w3.org/2001/XMLSchema#" > 
  <rdf:Description rdf:about="https://kops.uni-konstanz.de/server/rdf/resource/123456789/59892">
    <dc:rights>terms-of-use</dc:rights>
    <dcterms:issued>2015-05-04</dcterms:issued>
    <dcterms:isPartOf rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/36"/>
    <dc:contributor>Hamann, Heiko</dc:contributor>
    <void:sparqlEndpoint rdf:resource="http://localhost/fuseki/dspace/sparql"/>
    <dc:contributor>Dorigo, Marco</dc:contributor>
    <dc:creator>Dorigo, Marco</dc:creator>
    <dcterms:title>Efficient Decision-Making in a Self-Organizing Robot Swarm : On the Speed Versus Accuracy Trade-Off</dcterms:title>
    <dcterms:rights rdf:resource="https://rightsstatements.org/page/InC/1.0/"/>
    <dcterms:abstract xml:lang="eng">We study a self-organized collective decision-making strategy to solve the best-of-n decision problem in a swarm of robots. We define a distributed and iterative decision-making strategy. Using this strategy, robots explore the available options, determine the options' qualities, decide autonomously which option to take, and communicate their decision to neighboring robots. We study the effectiveness and robustness of the proposed strategy using a swarm of 100 Kilobots. We study the well-known speed versus accuracy trade-off analytically by developing a mean-field model. Compared to a previously published simpler method, our decision-making strategy shows a considerable speed-up but has lower accuracy. We analyze our decision-making strategy with particular focus on how the spatial density of robots impacts the dynamics of decisions. The number of neighboring robots is found to influence the speed and accuracy of the decision-making process. Larger neighborhoods speed up the decision but lower its accuracy. We observe that the parity of the neighborhood cardinality determines whether the system will over- or under-perform.</dcterms:abstract>
    <dc:language>eng</dc:language>
    <dc:creator>Valentini, Gabriele</dc:creator>
    <dcterms:available rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2023-01-23T13:33:07Z</dcterms:available>
    <dc:contributor>Valentini, Gabriele</dc:contributor>
    <bibo:uri rdf:resource="https://kops.uni-konstanz.de/handle/123456789/59892"/>
    <dspace:isPartOfCollection rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/36"/>
    <foaf:homepage rdf:resource="http://localhost:8080/"/>
    <dc:creator>Hamann, Heiko</dc:creator>
    <dc:date rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2023-01-23T13:33:07Z</dc:date>
  </rdf:Description>
</rdf:RDF>
Interner Vermerk
xmlui.Submission.submit.DescribeStep.inputForms.label.kops_note_fromSubmitter
Kontakt
Prüfdatum der URL
2023-01-23
Prüfungsdatum der Dissertation
Finanzierungsart
Kommentar zur Publikation
Allianzlizenz
Corresponding Authors der Uni Konstanz vorhanden
Internationale Co-Autor:innen
Universitätsbibliographie
Nein
Begutachtet
Diese Publikation teilen