Pseudo-Analog Communication in Robot Groups

Abstract

This paper discusses local communication issues in a group of homogeneous robots for the purpose of decentralizing group management. A short review is presented of existing research in this area, which is mainly devoted to solutions for individual problems in the field. The possibility is considered to program the messages robots exchange within a group as fuzzy (pseudo-analog). There are comparisons with the natural world, where the social behavior of animals is negotiated with non-distinct messages in a continuous pattern. Issues regarding the physical aspects of organizing communication channels are considered. Robots that are used in group robotics have limited sensor and computing functions, but they should nonetheless be able to orient themselves relevant to one another to coordinate their common actions. Accordingly, the idea is proposed to emulate signal transmissions using a discrete IR-channel. The paper defends the grounds for interpreting received messages based on their sequence and the reactions they produce. The results of computer experiments that model the problem of individualized minds in robots are presented. The results of the computer experiments show that the use of fuzzy messages make robot behavior more variable, and allows the group to function more stably while consuming less energy for movement. These results prove that the proposed method is indeed viable, and also that message comprehension and the reliability of communication channels increases when fuzzy (pseudo-analog) messages are used.