Achieving Consensus in Robot Swarms: Design and Analysis of Strategies for the best-of-n Problem

di Gabriele Valentini (Autore)

Springer International Publishing AG, 2017

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 identi?es 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 ?nite set when optimizing bene?ts and costs. The book leverages the identi?cation 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, usingrobot experiments to show how the designed strategies can be ported to different application scenarios.

• Autore: Gabriele Valentini
• Editore: Springer International Publishing AG
• Collana: Studies in Computational Intelligence
• Anno: 2017
• Rilegatura: Hardback
• Pagine: 146 p.
• Dimensioni: 235 x 155 mm
• EAN: 9783319536088

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