群体行为
计算机科学
水下
机器人
群机器人
集体行为
珊瑚礁
人机交互
植绒(纹理)
分布式计算
人工智能
模拟
生态学
地理
生物
物理
考古
量子力学
社会学
人类学
作者
Florian Berlinger,Melvin Gauci,Radhika Nagpal
出处
期刊:Science robotics
[American Association for the Advancement of Science (AAAS)]
日期:2021-01-20
卷期号:6 (50)
被引量:94
标识
DOI:10.1126/scirobotics.abd8668
摘要
Many fish species gather by the thousands and swim in harmony with seemingly no effort. Large schools display a range of impressive collective behaviors, from simple shoaling to collective migration and from basic predator evasion to dynamic maneuvers such as bait balls and flash expansion. A wealth of experimental and theoretical work has shown that these complex three-dimensional (3D) behaviors can arise from visual observations of nearby neighbors, without explicit communication. By contrast, most underwater robot collectives rely on centralized, above-water, explicit communication and, as a result, exhibit limited coordination complexity. Here, we demonstrate 3D collective behaviors with a swarm of fish-inspired miniature underwater robots that use only implicit communication mediated through the production and sensing of blue light. We show that complex and dynamic 3D collective behaviors-synchrony, dispersion/aggregation, dynamic circle formation, and search-capture-can be achieved by sensing minimal, noisy impressions of neighbors, without any centralized intervention. Our results provide insights into the power of implicit coordination and are of interest for future underwater robots that display collective capabilities on par with fish schools for applications such as environmental monitoring and search in coral reefs and coastal environments.
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