4
ඇઢײܕӡಈϩϘοτʹΑΔΰϛΊߦಈͷ ؠ ߞ1 , ຊ ହ 2 1 འۀେ ใࢠܥઐ ߈2 འۀେ ΈใܥҬ ཁ ԻηϯαΛ༻ڵฃͷඇઢײܕӡಈʹΑɼෳͷϩϘοτͲͷΑͳ ମͰΕΰϛΛΊΔڠௐߦಈΕΔͷΛݕɽ2 ͷۂઢΛΈ߹ ΘΔͱʹΑΓɼนΰϛͳͲͷোΛతʹճආΔͱՄͱͳɽ8 ͷϩϘο τʹΑΔݧΛߦɼϞʔγϣϯΩϟϓνϟΛ༻ମͷҐஔใΛऔಘɽϩϘοτ૬ ޓΑͼนͱͷিಥΛճආͳΒෳͷΰϛΛΔڠௐߦಈΛΔͱՄͰΔ ͱΘɽ Emergence of a garbage-collection behavior by multi-robots with a nonlinear sensory-motor mapping Kou Iwata 1 ɼYasushi Honda 2 1 Division of Information and Electronic Engineering, Muroran Institute of Technology 2 College of Information and Systems, Muroran Institute of Technology Abstract We developed a robot with a sensory-motor mapping using ultra-sonic sensors. A nonlinear function is used as the mapping. It is found that a combination of two kinds of hyperbolic function enables the robot to avoid obstacles like a wall or garbage. We found requirements in both of body structure and sensory-motor mapping for emergence of a garbage collection. In the conducted experiments with eight robots, the positional information of the object is obtained using the motion capture and is compared with initial position of the objects. It is found that the robots emerge cooperative behavior that is a garbage-collection behavior avoiding wall and other robots. 1 Ίʹ ϩϘοτʹԠߦಈɼܭըߦಈɼదԠߦಈɼڠௐ ߦಈͳͲͷతߦಈΛߦ·ΕΔɽΕΒͷత ߦಈͰΔϩϘοτΛݱΔΊʹɼਪఆ ݪཧʹجͱମΛ࡞ΓɼࡍͷڥͷதͰಈ ΈΔ”ߏ”ෆՄͱͳΔ [1]ɽ ຊڀݚͰతϩϘοτʹΑΔڠௐߦಈͱΰϛ ΊߦಈΛΔΊʹඞཁͳඇઢײܕӡಈͱϩ Ϙοτͷମʹௐɽ Ͱ”ΰϛΊ”ͱɼচʹཚΰϛΛ ࢴίοϓΛ 2 ݸҎʹ·ͱΊΔͱͰΔɽ ΰϛΊϩϘοτ Swiss Robot ͱ MarisɼMɼ Pfeifer ΒʹΑ։Ε [2][3]ɼࠃͰڀݚਐΊΒ Ε [4]ɽΕΒͷઌڀݚߦͱຊڀݚͱͷҧΛද 1 ʹɽຊڀݚͰɼ2 ͷۂઢΛΈ߹ΘΔ ͱʹΑΓɼϩϘοτͷಈతʹͳΓɼোΛճආ ͳΔͱߟɽ ຊڀݚͰ 2 ͷԻηϯαΛ༻ڵฃͷ ඇઢײܕӡಈʹΑɼෳͷϩϘοτোΛ ճආɼͳΰϛΛΊΔߦಈΕΔͱΛ 1
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