Achieving Consensus in Robot Swarms [electronic resource] : Design and Analysis of Strategies for the best-of-n Problem /
By: Valentini, Gabriele [author.].
Contributor(s): SpringerLink (Online service).
Series: Studies in Computational Intelligence: 706Publisher: Cham : Springer International Publishing : Imprint: Springer, 2017Edition: 1st ed. 2017.Description: XIV, 146 p. 46 illus., 37 illus. in color. | Binding - Card Paper |.Content type: text Media type: computer Carrier type: online resourceISBN: 9783319536095.Subject(s): Computer Engineering
| Computational Intelligence | Robotics and Automation | Artificial IntelligenceDDC classification: 006.3 Online resources: Click here to access eBook in Springer Nature platform. (Within Campus only.)
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Springer Nature eBookSummary: This book focuses on the design and analysis of collective decision-making strategies for the best-of-n problem. After providing a formalization of the structure of the best-of-n problem supported by a comprehensive survey of the swarm robotics literature, it introduces the functioning of a collective decision-making strategy and identifies a set of mechanisms that are essential for a strategy to solve the best-of-n problem. The best-of-n problem is an abstraction that captures the frequent requirement of a robot swarm to choose one option from of a finite set when optimizing benefits and costs. The book leverages the identification of these mechanisms to develop a modular and model-driven methodology to design collective decision-making strategies and to analyze their performance at different level of abstractions. Lastly, the author provides a series of case studies in which the proposed methodology is used to design different strategies, using robot experiments to show how the designed strategies can be ported to different application scenarios.
This book focuses on the design and analysis of collective decision-making strategies for the best-of-n problem. After providing a formalization of the structure of the best-of-n problem supported by a comprehensive survey of the swarm robotics literature, it introduces the functioning of a collective decision-making strategy and identifies a set of mechanisms that are essential for a strategy to solve the best-of-n problem. The best-of-n problem is an abstraction that captures the frequent requirement of a robot swarm to choose one option from of a finite set when optimizing benefits and costs. The book leverages the identification of these mechanisms to develop a modular and model-driven methodology to design collective decision-making strategies and to analyze their performance at different level of abstractions. Lastly, the author provides a series of case studies in which the proposed methodology is used to design different strategies, using robot experiments to show how the designed strategies can be ported to different application scenarios.
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