论文标题
在混合现实实验中延迟引起的群体模式分叉
Delay Induced Swarm Pattern Bifurcations in Mixed Reality Experiments
论文作者
论文摘要
众所周知，受试验无线通信延迟的耦合移动试剂群在空间中表现出多种动态模式，这些模式取决于相互作用的强度和通信延迟的幅度。我们通过实验表明，在混合现实框架中，使用两个不同的硬件平台在机器人群的时空模式中表明了延迟引起的分叉。此外，我们采取了实验验证理论上预测的参数区域的步骤，在这些参数区域发生了群体模式之间的过渡。我们表明，即使合并了避免碰撞的策略，多个旋转模式仍然存在，并且我们显示了通常未通过通常的平均场动力学预测的多稳定，共存的旋转模式的存在。我们的实验是验证现有理论以及实际机器人群中延迟引起的模式的存在和鲁棒性的第一个重要步骤。
Swarms of coupled mobile agents subject to inter-agent wireless communication delays are known to exhibit multiple dynamic patterns in space that depend on the strength of the interactions and the magnitude of the communication delays. We experimentally demonstrate communication delay-induced bifurcations in the spatio-temporal patterns of robot swarms using two distinct hardware platforms in a mixed reality framework. Additionally, we make steps toward experimentally validating theoretically predicted parameter regions where transitions between swarm patterns occur. We show that multiple rotation patterns persist even when collision-avoidance strategies are incorporated, and we show the existence of multi-stable, co-existing rotational patterns not predicted by usual mean field dynamics. Our experiments are the first significant steps towards validating existing theory and the existence and robustness of the delay-induced patterns in real robotic swarms.
