混合现实实验中延迟诱导的群体模式分叉
Delay Induced Swarm Pattern Bifurcations in Mixed Reality Experiments
摘要：
群耦合的移动代理受到代理间的无线通信延迟是已知的，表现出多种动态模式的空间，这取决于相互作用的强度和通信延迟的大小。我们通过实验证明了在混合现实框架中使用两个不同的硬件平台的机器人群的时空模式中的通信延迟引起的分叉。此外，我们采取措施，实验验证理论上预测的参数区域群模式之间的转换发生。我们发现，多个旋转模式持续存在，即使当碰撞避免策略被纳入，我们表明存在的多稳定，共存的旋转模式通常的平均场动力学预测。我们的实验是第一个重要的步骤，验证现有的理论和延迟诱导的模式在真正的机器人群的存在和鲁棒性。
英文摘要：
Swarms of coupled mobile agents subject to inter-agent wireless communication delays are known to exhibit multiple dynamic patterns in space that depend on the strength of the interactions and the magnitude of the communication delays. We experimentally demonstrate communication delay-induced bifurcations in the spatio-temporal patterns of robot swarms using two distinct hardware platforms in a mixed reality framework. Additionally, we make steps toward experimentally validating theoretically predicted parameter regions where transitions between swarm patterns occur. We show that multiple rotation patterns persist even when collision-avoidance strategies are incorporated, and we show the existence of multi-stable, co-existing rotational patterns not predicted by usual mean field dynamics. Our experiments are the first significant steps towards validating existing theory and the existence and robustness of the delay-induced patterns in real robotic swarms.
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