• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.3
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• pp.413-421
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• 2010

In the study, self-organization by color detection is proposed to overcome required constraints for existing self-organization by an external ceiling camera and communication. In the proposed self-organization, each swarm robot can follow its colleague robot and all swarm robots can follow a target by LOS(Line of Sight). The swarm robots follow the moving target by the proposed potential field, avoiding confliction with neighboring robots and obstacles. Finally, all swarm robots are reached by a sight among swarm robots. In this paper, for unicycle robots with non-holonomic constraints instead of point robot with holonomic constraints self-organization is presented, it enhances the possibility of H/W realization.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.4
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• pp.489-496
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• 2010

In this paper, a self-organization framework for swarm systems in three dimensions is presented. The framework uses artificial potential functions(APFs) to direct the robots toward the goal as well as to keep them in a swarm system. This research extends conventional APFs used for self-organizations in two dimension environment to three dimensions. In three dimension environment, the ground potential for the boundary surfaces that commonly appear in three dimension environments is proposed. Accordingly, the comparison between the paths without and with the ground potentials shows the necessity and effect of ground potentials. Extensive simulations are given to show the effectiveness of the extended potentials and various properties in three dimension environments.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.3
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• pp.355-362
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• 2009

In this paper, we present a framework for managing group behaviors in multi-agent swarm systems. The framework explores the benefits by dynamic associations with the proposed artificial potential functions to realize complex swarming behaviors. A key development is the introduction of a set of flocking by dynamic association (DA) algorithms that effectively deal with a host of swarming issues such as cooperation for fast migration to a target, flexible and agile formation, and inter-agent collision avoidance. In particular, the DA algorithms employ a so-called systematic singular association (SSA) rule for fast migration to a target and compact formation through inter-agent interaction. The resulting algorithms enjoy two important interrelated benefits. First, the SSA rule greatly reduces time-consuming for migration and satisfies low possibility that agents may be lost. Secondly, the SSA is advantageous for practical implementations, since it considers for agents even the case that a target is blocked by obstacles. Extensive simulation presents to illustrate the viability and effectiveness of the proposed framework.

• Information and Communications Magazine
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• v.27 no.7
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• pp.36-41
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• 2010

본 논문에서는 개미 군집의 행동 생태를 모델로 하여 군집 시스템의 적응적 분업화, 전문화 특성을 살펴보고, 사물 통신 네트워크 분야로의 응용 가능성을 소개하고자 한다. 내 외적인 환경 변화에 대비하여 개미 군집이 어떻게 효율적인 관리와 전체 시스템의 운영 유지를 할 수 있는지는 시스템 관점의 분석 모델이 요구된다. 한 가능한 모델은 반응역(response threshold)과 일의 자극(task associated stimuli)의 관계로 적응적 반응함수를 사용하는 것이다. 본 논문에서는 적응적인 반응함수가 전체 군집의 효율성과 분업화 과정을 촉발시키는 형태로 발전하는 예제를 보여줄 것이다. 이러한 시스템 분석은 사물 통신 네트워크 분야 연구에 적용될 수 있고, 멀티 에이젼트 시스템에서 효율적인 정보 전송 및 유지, 노드 부하의 균등화, 통신 가능한 스웜 로봇의 업무 분업화 등 다양한 분야로 응용 가능성이 있음을 제안한다.