群集智能理论及其在多机器人系统中的应用研究
|
摘要
群集智能是受自然界生物群体社会性行为启发而产生的概念,它是指简单个体通过局部交互所涌现出的不可预见的全局智能行为的特性。系统中的个体仅在局部感知能力下,通过同其他个体以及环境的交互就可以实现复杂的行为模式。群集智能利用群体的优势,在没有集中控制、不提供全局模型的前提下,为寻找复杂问题的解决方案提供了新的思路。显然,对群居生物集体行为的研究有助于理解群集智能系统的内在机理,及其在不同领域的应用。
本文目的是研究群集智能的有关理论问题,给出一套用于分析群集智能系统及相关行为稳定性和复杂性的方法,并将研究成果应用到多机器人系统中,实现多机器人的协调协作。
首先,证明了个体模型下群集智能系统自聚的稳定性。自聚的稳定性是指个体在移动过程中能够成群移动并最终聚集到目标位置周围的邻域内。微观上,通过将个体之间的相互作用转化为势场力,结合考虑个体的感知能力、动态环境以及噪声等因素,建立了群体聚集中的个体模型,运用Lyapunov稳定性理论证明了在上述情况下群体自聚的稳定性。
其次,证明了群集智能系统中环形分类行为的稳定性。环形结构同群体聚集时产生的最终结构在空间上具有一定的相似性。将群体聚集个体模型进行扩展,增加不同类对象之间的相互作用,建立了环形分类中被分类对象的个体模型。通过Lyapunov稳定性理论给出了多类物体环形结构构建的稳定性分析。
再次,研究了群体模型下的群体自组织特性。宏观上,分析群集智能系统个体之间以及个体和环境之间相互作用产生的效果,并考虑个体的行为规则,有助于建立系统的群体模型。将群体和环境看作一个开放系统,结合耗散结构的相关理论,基于平均场法建立了描述系统宏观状态的群体模型。通过模型的解析解、数值解以及Monte Carlo模拟,分析了系统状态随各个参数的变化规律,得出了群集智能系统多稳态性、模式涌现以及分叉现象产生的机制和条件。
最后,将群集智能模型和理论分析结果应用到机器人领域中,以编队和觅食任务为背景,实现了多机器人的协调协作。从行为上看,群体聚集和多机器人编队在过程上具有一致性。机器人间的引力和斥力平衡时可以保证机器人满足一定的几何约束,而环境中的障碍物可以引入同目标相反的势函数模拟。通过引入机器人的动力学方程,结合群体自聚个体模型实现了多机器人的编队控制。以觅食任务为背景的多机器人协作行为,由机器人之间的交互方式入手,提出了基于信息素反应的觅食策略,有效地提高了多机器人觅食的效率,降低了机器人之间的冲突。
Swarm Intelligence(SI),which is inspired by the cooperation of social animals,means the unpredictable macroscopical intelligence behavior emerges from the interaction of simple individuals.The individuals only have the capability of local perception.SI provides the new idea to find the solutions of complex problems without center controller and global information.It is helpful to understanding the internal mechanism of SI system,and to apply SI into different fields through researching the behavior of social animals.
The aim of this thesis is to research the theoretic problems on Swarm Intelligence,and to provide the general approaches on analyzing the stability and complexity of the behaviors or algorithms in SI system.And then,the results obtained here are applied to multi-robot system.So the coordination and cooperation of multi-robots are implemented.
Firstly,the stability of self-aggregation of SI system in complex and dynamics environment is proved by the individual model.The stability of self-aggregation means that the individual can move coherently to the target and can stay in finite neighbor field of the target finally.The interaction of individuals is transformed into potential force.So the individual model of aggregation is built by considering the sensing capability of the individual,noise in and dynamics of environment.And then the stability of self-aggregation is proved by Lyapunov stability theory.The analysis mentioned above makes the research on SI more factual.
Secondly,the stability of annular structure in SI system is proved.The annular structure in social animals exhibits high cooperation.The spatial relationship in annular structure seems similar to that in aggregation mentioned above.So the object model in annular sorting can be built by increasing the interaction between different types of objects.And the stability of building annular structure is given by Lyapunov stability theory.
Thirdly,the Self-organization of swarm model is researched.In macroscopical perspective,in order to build the swarm model of the system,the interactions between individuals and the environment need to be analyzed,and the rules of individual behavior should to be considered.In addition,the swarm and the environment can be considered to be an open system.From the point of view of Dissipation Structure Theory,the swarm model of SI system in macroscopical status can be described by the differential equations.The characters of stationary solution of the equations are obtained by analyzing the solutions and numerical results the equations,and Monte Carlo simulation.So the multistability,emergent patterns and bifurcation in Self-organization systems are also obtained.
Finally,the models and their analysis are applied into robotic systems.So the coordination and cooperation of multiple robots are implemented in the background of formation control and foraging task.The aim of researching on SI theory is to apply it into factual system.There is something consistent between the formation control of multiple robots and aggregations mentioned above.The balance between the attractive and repellent force can satisfy the formation restriction.And the obstacles in formation can be represented by the potential field which is contrary to the target.So the formation control is implemented by combine the dynamic equation and the aggregation model.In addition,in order to improve the performance of foraging behavior in multiple robots system,the patterns of interaction are considered by the results analyzed in each model. Through adding different type of pheromone which can react with each other,the performance the system increases and the conflicts between the robots decrease efficiently.
本文目的是研究群集智能的有关理论问题,给出一套用于分析群集智能系统及相关行为稳定性和复杂性的方法,并将研究成果应用到多机器人系统中,实现多机器人的协调协作。
首先,证明了个体模型下群集智能系统自聚的稳定性。自聚的稳定性是指个体在移动过程中能够成群移动并最终聚集到目标位置周围的邻域内。微观上,通过将个体之间的相互作用转化为势场力,结合考虑个体的感知能力、动态环境以及噪声等因素,建立了群体聚集中的个体模型,运用Lyapunov稳定性理论证明了在上述情况下群体自聚的稳定性。
其次,证明了群集智能系统中环形分类行为的稳定性。环形结构同群体聚集时产生的最终结构在空间上具有一定的相似性。将群体聚集个体模型进行扩展,增加不同类对象之间的相互作用,建立了环形分类中被分类对象的个体模型。通过Lyapunov稳定性理论给出了多类物体环形结构构建的稳定性分析。
再次,研究了群体模型下的群体自组织特性。宏观上,分析群集智能系统个体之间以及个体和环境之间相互作用产生的效果,并考虑个体的行为规则,有助于建立系统的群体模型。将群体和环境看作一个开放系统,结合耗散结构的相关理论,基于平均场法建立了描述系统宏观状态的群体模型。通过模型的解析解、数值解以及Monte Carlo模拟,分析了系统状态随各个参数的变化规律,得出了群集智能系统多稳态性、模式涌现以及分叉现象产生的机制和条件。
最后,将群集智能模型和理论分析结果应用到机器人领域中,以编队和觅食任务为背景,实现了多机器人的协调协作。从行为上看,群体聚集和多机器人编队在过程上具有一致性。机器人间的引力和斥力平衡时可以保证机器人满足一定的几何约束,而环境中的障碍物可以引入同目标相反的势函数模拟。通过引入机器人的动力学方程,结合群体自聚个体模型实现了多机器人的编队控制。以觅食任务为背景的多机器人协作行为,由机器人之间的交互方式入手,提出了基于信息素反应的觅食策略,有效地提高了多机器人觅食的效率,降低了机器人之间的冲突。
Swarm Intelligence(SI),which is inspired by the cooperation of social animals,means the unpredictable macroscopical intelligence behavior emerges from the interaction of simple individuals.The individuals only have the capability of local perception.SI provides the new idea to find the solutions of complex problems without center controller and global information.It is helpful to understanding the internal mechanism of SI system,and to apply SI into different fields through researching the behavior of social animals.
The aim of this thesis is to research the theoretic problems on Swarm Intelligence,and to provide the general approaches on analyzing the stability and complexity of the behaviors or algorithms in SI system.And then,the results obtained here are applied to multi-robot system.So the coordination and cooperation of multi-robots are implemented.
Firstly,the stability of self-aggregation of SI system in complex and dynamics environment is proved by the individual model.The stability of self-aggregation means that the individual can move coherently to the target and can stay in finite neighbor field of the target finally.The interaction of individuals is transformed into potential force.So the individual model of aggregation is built by considering the sensing capability of the individual,noise in and dynamics of environment.And then the stability of self-aggregation is proved by Lyapunov stability theory.The analysis mentioned above makes the research on SI more factual.
Secondly,the stability of annular structure in SI system is proved.The annular structure in social animals exhibits high cooperation.The spatial relationship in annular structure seems similar to that in aggregation mentioned above.So the object model in annular sorting can be built by increasing the interaction between different types of objects.And the stability of building annular structure is given by Lyapunov stability theory.
Thirdly,the Self-organization of swarm model is researched.In macroscopical perspective,in order to build the swarm model of the system,the interactions between individuals and the environment need to be analyzed,and the rules of individual behavior should to be considered.In addition,the swarm and the environment can be considered to be an open system.From the point of view of Dissipation Structure Theory,the swarm model of SI system in macroscopical status can be described by the differential equations.The characters of stationary solution of the equations are obtained by analyzing the solutions and numerical results the equations,and Monte Carlo simulation.So the multistability,emergent patterns and bifurcation in Self-organization systems are also obtained.
Finally,the models and their analysis are applied into robotic systems.So the coordination and cooperation of multiple robots are implemented in the background of formation control and foraging task.The aim of researching on SI theory is to apply it into factual system.There is something consistent between the formation control of multiple robots and aggregations mentioned above.The balance between the attractive and repellent force can satisfy the formation restriction.And the obstacles in formation can be represented by the potential field which is contrary to the target.So the formation control is implemented by combine the dynamic equation and the aggregation model.In addition,in order to improve the performance of foraging behavior in multiple robots system,the patterns of interaction are considered by the results analyzed in each model. Through adding different type of pheromone which can react with each other,the performance the system increases and the conflicts between the robots decrease efficiently.
引文
[1]Brooks R.A..A robust layered control system for a mobile robot.Journal of Robotics and Automation,1986(2):14-23P
[2]Brooks R.A..Intelligence without representation.Artificial Intelligence,1991(47):139-159P
[3]Brooks R.A..Intelligence without reason.International Joint Conference on Artificial Intelligence,1991:569-595P
[4]Arai T,Pagello E.,Parker L.E..Guest Editorial:Advances in multirobot systems.IEEE Transactions on Robotics and Automation,2002(18):655-661P
[5]Cao Y.,Fukunaga A.,Kahng A..Cooperative mobile robotics:Antecedents and directions.Autonomous Robots,1995(4):1-23P
[6]Dudek G.,Jenkin M.,Milios E.,Wilkes D..A taxonomy for swarm robots.IEEE/RSJ International Conference on Intelligent Robots and Systems,Yokohama,Japan,1993:441-447P
[7]Howe J..A flexible and innovative platform for autonomous mobile robots.MIT,Masters Thesis,2003
[8]Ichikawa S.,Hara F.,Hosokai H..Cooperative route-searching behavior of multi-robot system using hello-call communication.IEEE/RSJ International Conference on Intelligent Robots and Systems,Yokohama,Japan,1993:1149-1156P
[9]Pagello E.,D'Angelo A.,Montesello F.,Garelli E,Ferrari C.Cooperative behaviors in multi-robot systems through implicit communication.Robotics and Autonomous Systems,1999(29):65-77P
[10]Beckers R.,Holland O.E.,Deneubourg J.-L..From local actions to global tasks:Stigmergy and collective robotics.4th International Workshop on the Synthesis and Simulation of Living Systems:Artificial Life,1994(4):181-189P
[11]Owen Holland,Chris Melhuish.Stigmergy,self-organization,and sorting in collective robotics.Artificial Life,1999.2(5):173-202P
[12]Singh S.P.N.,Thayer S.M.,Thayer W.P..A foundation for kilorobotic exploration.2002 Congress on Evolutionary Computation,2002(2):1033-1038P
[13]Goss S.,Deneubourg J.-L..Harvesting by a group of robots.First European Conference on Artificial Life:Toward a Practice of Autonomous Systems,1992:195-204P
[14]Russell A..Mobile robot guidance using a short-lived heat trail.Robotica,1993(11):427-431P
[15]Deneubourg J.-L.,Goss S.,Franks N.,Sendova-Franks,A.,Detrain,C.,Chretien,L..The dynamics of collective sorting:robot-like ants and ant-like robots.First European Conference on Artificial Life:Toward a Practice of Autonomous Systems,1992:123-133P
[16]C.Meluish,O.Holland,S.Hoddell.Collective sorting and segregation in robots with minimal sensing.In Simulation of Adaptive Behavior:From Animals to Animats.USA:MIT Press,1998:465-470P
[17]C.Reynolds.Flocks,birds,and schools:a distributed behavioral model.Computer Graphics,1987(21):25-34P
[18]Bonabeau E,Dorigo M,Theraulaz G.Swarm intelligence:From natural to artificial systems.New York Oxford,Oxford University Press,1999
[19]J.Kennedy,R.C.Eberhart.Particle Swarm Optimization.IEEE International Conference on Neural Networks.1995:1942-1948P
[20]韩靖,蔡庆生.AER 模型中的智能涌现.模式识别与人工智能.2002.6:134-142页
[21]吴启迪,汪镭.智能微粒群算法及应用.江苏教育出版社,2005年5月
[22]李世勇.蚁群算法及其应用.哈尔滨工业大学出版社,2004年9月
[23]曾建潮,介倩,崔志华.微粒群算法。科学出版社,2004年3月
[24]G.Beni,J.Wang.Distributed Robotic Systems and Swarm Intelligence.Proceedings of IEEE International Conference on Robotics and Automation.1991:1914P
[25]Vitorino Ramos,Carlos Fernandes,Agostinho C.Rosa.On Ants,Bacteria and Dynamic Environments.Natural Computing and Applications Workshop,IEEE Computer Press,2005.9:1-8P
[26]Wei-Min Shen,Cheng-Ming Chuong,Peter Will.Hormone-Inspired Self-Organization and Distributed Control of Robotic Swarms.Autonomous Robots,2004(17):93-105P
[27]Simon Garnier,Christian Jost,et al.Collective Decision-making by A Group of Cockroach-like Robots.IEEE Proceedings on Swarm Intelligence Symposium,2005.7:233-240P
[28]Raphael Jeanson,Colette Rivault,et al.Self-organized aggregation in cockroaches.Animal Behaviour.2005,69(1):169-180P
[29]Bahgeci.E.,Sahin.E..Evolving Aggregation Behaviors for Swarm Robotic Systems:A System Case Study.IEEE Proceedings on Swarm Intelligence Symposium,2005.6:333-340P
[30]Aram Galstyan,Tad Hogg,Kristina Lerman.Modeling and Mathematical Analysis of Swarms of Microscopic Robots.IEEE Proceedings on Swarm Intelligence Symposium,2005.6:201-208P
[31]Jason Tillett,T.M.Rao,Raghuveer Rao,Ferat Sahin.Robust recruitment near the edge of chaos and an application to mine sweeping.IEEE International Conference on Systems,Man and Cybernetics.2003.10:4582-4587P
[32]Onur Soysal,Erol Sahin.Probabilistic Aggregation Strategies in Swarm Robotic System.IEEE Proceedings on Swarm Intelligence Symposium,2005.6:325-332P
[33]李衍达.生物界的自组织现象与机理.香山科学会议第227次学术研讨会,2004.5
[34]Sugawara K.,Sano M.,Yoshihara I.,Abe K.;Watanabe T..Foraging Behavior of Multi-robot System and Emergence of Swarm Intelligence.IEEE International Conference on Systems,Man,and Cybernetics,1999:257-262P
[35]Alejandro Rodriguez,James A.Reggia.Using Aggregate Motion in Multi-agent Teams To Solve Search and Transport Problems.IEEE Proceedings on Swarm Intelligence Symposium,2005.6:373-380P
[36]Kumar V.,Sahin F..Cognitive Maps in Swarm Robots for the Mine Detection Application.IEEE International Conference on Systems,Man,and Cybernetics.2003.10:3364-3369P
[37]Dandan Zhang,Guangming Xie,Junzhi Yu,Long Wang.Adaptive task assignment for multiple mobile robots via swarm intelligence approach.Robotics and Autonomous 2007,55(7):572-588P
[38]Gazi V,Passino K M.Stability analysis of social foraging swarms.IEEE Transactions on Systems,Man,and Cybemetics-PartB:2004,34(1):539-557P
[39]Yang Liu,Kevin,Marios.Stability Analysis of M-Dimensional Asynchronous Swarm With a Fixed Communication Toplogy.IEEE Transactions on automatic control,2003,48(4):76-95P
[40]陈世明,方华京.大规模智能群体的建模及稳定性分析.控制与决策.2005,20(5):490-494页
[41]Nicolis S.C.,Deneubourg J.L..Emerging patterns and food recruitment in ants:an analytical study.Journal of Theoretical Biolog.1999(198):575-592P
[42]Werger B..Cooperation without deliberation:A minimal behavior-based approach tomulti-robot teams.Artificial Intelligence,1999(110):293-320P
[43]Marco Dorigo.SWARM-BOT:an experiment in swarm robotics.IEEE Proceedings on Swarm Intelligence Symposium,2005.7:192-200P
[44]Vito Trianni,Stefano Nolfi,Marco Dorigo.Cooperative hole avoidance in a swarm-bot.Robotics and Autonomous Systems,2006.2(54):97-103P
[45]Yasunori Takemura,Masanori Sato,Kazuo Ishii.Toward realization of swarm intelligence mobile robots.International Congress Series,2006.6,Vol.1291:273-276P
[46]Arai T.,Ogata H.,Suzuki T..Collision avoidance among multiple robots using virtual impedance.IEEE/RSJ International Conference on Intelligent Robots and Systems,1989:479-485P
[47]Hayes A.T.,Dormiani-Tabatabaei P..Self-organized flocking with agent failure:Off-line optimization and demonstration with real robots.IEEE International Conference on Robotics and Automation,Washington,D.C.,2002:3900-3905P
[48]Yamaguchi H..A distributed motion coordination strategy for multiple nonholonomic mobile robots in cooperative hunting operations.IEEE Conference on Decision and Control,Las Vegas,Nevada,2002(41):2984-2991P
[49]Yamaguchi H..A cooperative hunting behavior by mobile-robot troops.International Journal of Robotics Research,1999(18):931-940P
[50]Fredslund J.,Mataric,M.J..Robot formations using only local sensing and control.IEEE International Symposium on Computational Intelligence in Robotics and Automation,Alberta,Canada,2001:308-313P
[51]Balch T.,Arkin R.C..Behavior-based formation control for multirobot teams.IEEE Transactions on Robotics and Automation,1998(14):926-939P
[52]Sudd J.H..The transport of prey by ants.Behaviour,1965,25(3):234-271P
[53]Kube R.C.,Zhang,H..Stagnation recovery behaviours for collective robotics.IEEE/RSJ International Conference on Intelligent Robots and Systems,1994:1893-1890P
[54]Bay J.S..Design of the "Army-Ant" cooperative lifting robot.IEEE Robotics & Automation Magazine,1995.3:36-43P
[55]Stilwell D.J.,Bay J.S..Toward the development of a material transport system using swarms of ant-like robots.IEEE International Conference on Robotics and Automation,Atlanta,GA,1993
[56]丁滢颍,何衍,蒋静坪.基于蚁群算法的多机器人协作策略.机器人.2003.9(25):414-418页
[57]Kitano H.,Asada M.,Kuniyoshi Y.,Noda I.,Osawa E..RoboCup:The Robot World Cup Initiative.First International Conference On Autonomous Agents,Marina del Ray,1997
[58]Drogoul A.,Ferber J..From Tom Thumb to the Dockers:Some experiments with foraging robots.Second International Conference on Simulation of Adaptive Behavior,Honolulu,HI,1992:451-459P
[59]Altenburg K..Adaptive resource allocation for a multiple mobile robot system using communication.North Dakota State University,Technical Report NDSU-CSOR-TR-9404,1994
[60]Sugawara K.,Sano M..Cooperative acceleration of task performance:Foraging behavior of interacting multi-robot systems.Physica D,1997(100):343-354P
[61]Sugawara K.,Watanabe T..Swarming robots-Foraging behavior of simple multirobot system.IEEE/RSJ International Conference on Intelligent Robots and Systems,Lausanne,Switzerland,2002:2702-2707P
[62]Mataric M.J..Designing and understanding adaptive group behavior.Adaptive Behavior,1995(4):51-80P
[63]Werger B.,Mataric M.J..Robotic "food" chains:Externalization of state and program for minimal-agent foraging.Fourth International Conference on Simulation of Adaptive Behavior:From Animals to Animats,1996(4):626-633P
[64]Deveza R.,Thiel D.,Russell A.,Mackay-Sim A..Odor sensing for robot guidance.International Journal of Robotics Research,1994(13):232-239P
[65]Russell A..Laying and sensing odor markings as a strategy for assisting mobile robot navigation tasks.IEEE Robotics & Automation Magazine,1995:3-9P
[66]Martinoli A.,Ijspeert A.J.,Mondada F..Understanding collective aggregation mechanisms:From probablistic modelling to experiments with real robots.Robotics and Autonomous Systems,1999(29):51-63P
[67]Ramos,Vitorino,Abraham,Ajith.ANTIDS:Self-Organized Ant-based Clustering Model for Intrusion Detection System.Cryptography and Security,Artificial Intelligence,2005(5):977-986P
[68]Zhou Lianying,Liu Fengyu.A Swarm-Intelligence-Based Intrusion Detection Technique.IJCSNS International Journal of Computer Science and Network Security,2006,6(7):146-149P
[69]Seyed-Hamid Zahiri,Seyed-Alireza Seyedin.Swarm intelligence based classifiers.Journal of the Franklin Institute Article in Press,Corrected Proof,2006.3:1-15P
[70]Ramos V,Almeida F.Artificial Ant Colonies in Digtal Image Habitats-A Mass Effect Study on Pattern Recognition.Processings of ANTS'2000-2nd International Workshop on Ant Algorithm(From Ant Colonies to Artificial Ants).2000:113-116P
[71]Romos V,Pina P,Muge F.Mining Textual Feature with Artificial Ant Colonies -Toward a Dynamic and Continuous Classification of Polished Marble Slabs.30th International Symposium on Computer Applications in the Mineral Industries.2002:25-27P
[72]Hamarneh G;Mcinerney T,Terzopou-Los D.Deformable Organism for Automatic Medical Image Analysis.Image Computing and Computer-Assisted Interverntion.2001.10:14-17P
[73]Gary Greenfield.Ant Paintings using a Multiple Pheromone Model.7th International Conference on Short and Medium Span Bridges 2006,2006.8:319-323P
[74]Jun J.-H.,Lee D.-W.,Sim K.-B..Realization of cooperative strategies and swarm behavior in distributed autonomous robotic systems using artificial immune system.IEEE International Conference on Systems,Man,and Cybernetics,1999(6):614-619P
[75]Taheri S.A.,Calva G..Imitating the human immune system capabilities for multiagent federation formation.2001 IEEE International Symposium on Intelligent Control,Mexico City,Mexico,2001:25-30P
[76]Mitsumoto N.,Fukada T.,Shimojima K.,Ogawa A..Micro autonomous robotic system and biologically inspired immune system swarm strategy as a multi agent robotic system.IEEE International Conference on Robotics and Automation,1995:2187-2192P
[77]Camazine S.,Deneubourg J.-L.,et al.Self-Organization in Biological Systems.Princeton:Princeton University Press,2001
[78]Pratt S.C..Recruiment and other communication behavior in the Ponerine ant Ectatomma ruidum.Ethology,1989(81):313-331P
[79]Bernstein R.A..Foraging strategies of ants in response to variable food density.Ecology,1975(56):213-219P
[80]Hahn,M.and Maschwitz,U..Foraging strategies and recruitment behaviour in the European harvester ant Messor rufitarsis(F.).Oecologia,1985,68(2):45-51P
[81]Mark Russell Edelen.Swarm Intelligence and Stigmergy:Robotic Implementation of Foraging Behaviour.Faculty of the Graduate School of the University of Maryland,2003
[82]Deneubourg J.-L.,Goss S.,Franks N.,Pasteels J.M..The blind leading the blind:Modeling chemically mediated army ant raid patterns.Journal of Insect Behavior,1989(2):719-725P
[83]Deneubourg J.-L.,Aron S.,Goss S.,Pasteels J.M..The self-organizing exploratory pattern of the Argentine ant.Journal of Insect Behavior,1990(3):159-168
[84]Edelstein-Keshet L..Simple models for trail-following behavior;Trunk trails ersus individual foragers.Journal of Mathematical Biology,1994(32):303-328P
[85]Burton J.L.,Franks N..The foraging ecology of the army ant Eciton rapax:an ergonomic enigma.Ecological Entomology,1985(10):131-141P
[86]Jun J.-H.,Lee D.-W.,Sim K.-B..Realization of cooperative strategies and swarm behavior in distributed autonomous robotic systems using artificial immune system.IEEE International Conference on Systems,Man,and Cybernetics,1999(6):614-619P
[87]Beckers R.,Deneubourg J.-L.,Goss S..Modulation of trail laying in the ant Lasius niger(Hymenoptera:Formicidae) and its role in the collective selection of a food source.Journal of Insect Behavior,1993(6):751-759P
[88]Deneubourg J.-L.,Theraulaz G.,Beckers R..Swarm-made architectures.European Conference on Artificial Life,1992:123-133P
[89]Detrain C.,Deneubourg J.-L..Scavenging by Pheidole pallidula:a key for understanding decision-making systems in ants.Animal Behaviour,1997(53)
[90]Judd T.M.,Sherman P.W..Naked mole-rats recruit colony mates to food sources.Animal Behaviour,1996(52):957-969P
[91]Bonabeau E.,Theraulaz G.,Deneubourg J.-L.,Aron S.,Camazine S., Selforganization in social insects.Trends in Ecology and Evolution,1997(12):188-193P
[92]Camazine S..Self-organizing pattern formation on the combs of honey bee colonies.Behavioral Ecology and Sociobiology,1991(28):61-76P
[93]Camazine S.,Sneyd J..A model of collective nectar source selection by honey bees:self-organization through simple rules.Journal of Theoretical Biology,1991(149):547-571P
[94]Holldobler B.,Wilson E.O..The Ants.Cambridge,Mass.:Harvard University Press,1990
[95]Edelstein-Keshet L.,Watmough J.,Ermentrout G.Trail following in ants:individual properties determine population behavior.Behavioral Ecology and Sociobiology,1995(36):119-133P
[96]Deneubourg J.-L.,Pasteels J.M.,Verhaeghe J.C..Probabilistic behaviour in ants:A strategy of errors?.Journal of Theoretical Biology,1983(105):259-271P
[97]Beckers R.,Deneubourg J.-L.,Goss S..Trail laying behaviour during food recruitment in the ant Lasius niger(L.).Insectes Sociaux,1992(39):59-72P
[98]Pasteels J.M.,Deneubourg J.-L.,Goss S..Self-organization mechanisms in ant societies(Ⅰ):Trail recruitment to newly discovered food sources.Experientia Supplementum,1987(54):155-175P
[99]Resnick M..Turtles,Termites,and Traffic Jams:Explorations in Massively Parallel Microwodds.London:MIT Press,1994
[100]Bonabeau E.,Cogne F..Oscillation-enhanced adaptability in the vicinity of a bifurcation:the example of foraging in ants.Fourth International Conference on Simulation of Adaptive Behavior:From Animals to Animats,1996:537-542P
[101]沈小峰.耗散结构论.上海:上海人民出版社,1987
[102]Tianguang Chu,Long Wang,Tongwen Chen,Shumei Mu.Complex emergent dynamics of anisotropic swarms:Convergence vs oscillation.Chaos Solitons & Fractals,2006,30(4):875-885P
[103]L.Wang,H.Shi,T.Chu,W.Zhang,L.Zhang.Aggregation of Foraging Swarms.LNAI3339,2004:766-777P
[104]Bo Liu,Tianguang Chu,Long Wang.Collective Behavior Analysis of a Class of Social Foraging Swarms.LNAI3630,2005:584-593P
[105]Bo Liu,Tianguang Chu,Long Wang.Stability and Oscillation of Swarm With Interaction Time Delays.Proceedings of the 2007 American Control Conference.New York City,USA,2007.7:4600-4605P
[106]Ian A.Gravagne,Robert J.Marks,II.Emergent Behaviors of Protector,Refugee,and Aggressor Swarms.IEEE Transactions on Systems,Man,and Cybernetics-PART B:Cybernetics,2007,30(2):471-476P
[107]E.D.Lumer,B.Faieta.Diversity and adaptation in populations of clustering ants.In Proceedings of the Third International Conference on Simulation of Adaptive Behavior,1994:501-508P
[108]N.R.Franks,A.Sendova-Franks.Brood sorting by ants:Distributing the workload over the work-surface.Behavioral Ecology and Sociobiology,1992,30(2):109-123P
[109]M.Wilson,C.Meluish,A.Sendova-Franks,S.R.Scholes.Algorithms for Building Annular Structures with Minimalist Robots Inspired by Brood Sorting in Ant Colonies.Autonomous Robots,2004,17(1):115-136P
[110]Vegard Hartmann.Evolving Agent Swarms for Clustering and Sorting.Proceedings of the Genetic and Evolutionary Computation Conference(GECCO 2005).Washington,D.C.,USA,2005.217-224P
[111]何小贤,朱云龙,王玫.群集智能中的知识涌现与复杂适应性问题综述研究.信息与控制,2005,34(5):560-565页
[112]Nicolis S.C.Detrain C.,Demolin D.,Deneubourg J.L.Optimality of Collective Choices:A Stochastic Approach.Bulletin of Mathematical Biology.2003,65(5):795-808P
[113]贾秋玲,闫建国,王新民.基于势函数的多机器人系统的编队控制.机器人,2006,28(2):111-114页
[114]Wei-Min Shen,Cheng-Ming Chuong,Peter Will.Simulating Self-Organization for Multi-Robot Systems.International Conference on Intelligent and Robotic Systems,Switzerland,2002:2776-2781P
[2]Brooks R.A..Intelligence without representation.Artificial Intelligence,1991(47):139-159P
[3]Brooks R.A..Intelligence without reason.International Joint Conference on Artificial Intelligence,1991:569-595P
[4]Arai T,Pagello E.,Parker L.E..Guest Editorial:Advances in multirobot systems.IEEE Transactions on Robotics and Automation,2002(18):655-661P
[5]Cao Y.,Fukunaga A.,Kahng A..Cooperative mobile robotics:Antecedents and directions.Autonomous Robots,1995(4):1-23P
[6]Dudek G.,Jenkin M.,Milios E.,Wilkes D..A taxonomy for swarm robots.IEEE/RSJ International Conference on Intelligent Robots and Systems,Yokohama,Japan,1993:441-447P
[7]Howe J..A flexible and innovative platform for autonomous mobile robots.MIT,Masters Thesis,2003
[8]Ichikawa S.,Hara F.,Hosokai H..Cooperative route-searching behavior of multi-robot system using hello-call communication.IEEE/RSJ International Conference on Intelligent Robots and Systems,Yokohama,Japan,1993:1149-1156P
[9]Pagello E.,D'Angelo A.,Montesello F.,Garelli E,Ferrari C.Cooperative behaviors in multi-robot systems through implicit communication.Robotics and Autonomous Systems,1999(29):65-77P
[10]Beckers R.,Holland O.E.,Deneubourg J.-L..From local actions to global tasks:Stigmergy and collective robotics.4th International Workshop on the Synthesis and Simulation of Living Systems:Artificial Life,1994(4):181-189P
[11]Owen Holland,Chris Melhuish.Stigmergy,self-organization,and sorting in collective robotics.Artificial Life,1999.2(5):173-202P
[12]Singh S.P.N.,Thayer S.M.,Thayer W.P..A foundation for kilorobotic exploration.2002 Congress on Evolutionary Computation,2002(2):1033-1038P
[13]Goss S.,Deneubourg J.-L..Harvesting by a group of robots.First European Conference on Artificial Life:Toward a Practice of Autonomous Systems,1992:195-204P
[14]Russell A..Mobile robot guidance using a short-lived heat trail.Robotica,1993(11):427-431P
[15]Deneubourg J.-L.,Goss S.,Franks N.,Sendova-Franks,A.,Detrain,C.,Chretien,L..The dynamics of collective sorting:robot-like ants and ant-like robots.First European Conference on Artificial Life:Toward a Practice of Autonomous Systems,1992:123-133P
[16]C.Meluish,O.Holland,S.Hoddell.Collective sorting and segregation in robots with minimal sensing.In Simulation of Adaptive Behavior:From Animals to Animats.USA:MIT Press,1998:465-470P
[17]C.Reynolds.Flocks,birds,and schools:a distributed behavioral model.Computer Graphics,1987(21):25-34P
[18]Bonabeau E,Dorigo M,Theraulaz G.Swarm intelligence:From natural to artificial systems.New York Oxford,Oxford University Press,1999
[19]J.Kennedy,R.C.Eberhart.Particle Swarm Optimization.IEEE International Conference on Neural Networks.1995:1942-1948P
[20]韩靖,蔡庆生.AER 模型中的智能涌现.模式识别与人工智能.2002.6:134-142页
[21]吴启迪,汪镭.智能微粒群算法及应用.江苏教育出版社,2005年5月
[22]李世勇.蚁群算法及其应用.哈尔滨工业大学出版社,2004年9月
[23]曾建潮,介倩,崔志华.微粒群算法。科学出版社,2004年3月
[24]G.Beni,J.Wang.Distributed Robotic Systems and Swarm Intelligence.Proceedings of IEEE International Conference on Robotics and Automation.1991:1914P
[25]Vitorino Ramos,Carlos Fernandes,Agostinho C.Rosa.On Ants,Bacteria and Dynamic Environments.Natural Computing and Applications Workshop,IEEE Computer Press,2005.9:1-8P
[26]Wei-Min Shen,Cheng-Ming Chuong,Peter Will.Hormone-Inspired Self-Organization and Distributed Control of Robotic Swarms.Autonomous Robots,2004(17):93-105P
[27]Simon Garnier,Christian Jost,et al.Collective Decision-making by A Group of Cockroach-like Robots.IEEE Proceedings on Swarm Intelligence Symposium,2005.7:233-240P
[28]Raphael Jeanson,Colette Rivault,et al.Self-organized aggregation in cockroaches.Animal Behaviour.2005,69(1):169-180P
[29]Bahgeci.E.,Sahin.E..Evolving Aggregation Behaviors for Swarm Robotic Systems:A System Case Study.IEEE Proceedings on Swarm Intelligence Symposium,2005.6:333-340P
[30]Aram Galstyan,Tad Hogg,Kristina Lerman.Modeling and Mathematical Analysis of Swarms of Microscopic Robots.IEEE Proceedings on Swarm Intelligence Symposium,2005.6:201-208P
[31]Jason Tillett,T.M.Rao,Raghuveer Rao,Ferat Sahin.Robust recruitment near the edge of chaos and an application to mine sweeping.IEEE International Conference on Systems,Man and Cybernetics.2003.10:4582-4587P
[32]Onur Soysal,Erol Sahin.Probabilistic Aggregation Strategies in Swarm Robotic System.IEEE Proceedings on Swarm Intelligence Symposium,2005.6:325-332P
[33]李衍达.生物界的自组织现象与机理.香山科学会议第227次学术研讨会,2004.5
[34]Sugawara K.,Sano M.,Yoshihara I.,Abe K.;Watanabe T..Foraging Behavior of Multi-robot System and Emergence of Swarm Intelligence.IEEE International Conference on Systems,Man,and Cybernetics,1999:257-262P
[35]Alejandro Rodriguez,James A.Reggia.Using Aggregate Motion in Multi-agent Teams To Solve Search and Transport Problems.IEEE Proceedings on Swarm Intelligence Symposium,2005.6:373-380P
[36]Kumar V.,Sahin F..Cognitive Maps in Swarm Robots for the Mine Detection Application.IEEE International Conference on Systems,Man,and Cybernetics.2003.10:3364-3369P
[37]Dandan Zhang,Guangming Xie,Junzhi Yu,Long Wang.Adaptive task assignment for multiple mobile robots via swarm intelligence approach.Robotics and Autonomous 2007,55(7):572-588P
[38]Gazi V,Passino K M.Stability analysis of social foraging swarms.IEEE Transactions on Systems,Man,and Cybemetics-PartB:2004,34(1):539-557P
[39]Yang Liu,Kevin,Marios.Stability Analysis of M-Dimensional Asynchronous Swarm With a Fixed Communication Toplogy.IEEE Transactions on automatic control,2003,48(4):76-95P
[40]陈世明,方华京.大规模智能群体的建模及稳定性分析.控制与决策.2005,20(5):490-494页
[41]Nicolis S.C.,Deneubourg J.L..Emerging patterns and food recruitment in ants:an analytical study.Journal of Theoretical Biolog.1999(198):575-592P
[42]Werger B..Cooperation without deliberation:A minimal behavior-based approach tomulti-robot teams.Artificial Intelligence,1999(110):293-320P
[43]Marco Dorigo.SWARM-BOT:an experiment in swarm robotics.IEEE Proceedings on Swarm Intelligence Symposium,2005.7:192-200P
[44]Vito Trianni,Stefano Nolfi,Marco Dorigo.Cooperative hole avoidance in a swarm-bot.Robotics and Autonomous Systems,2006.2(54):97-103P
[45]Yasunori Takemura,Masanori Sato,Kazuo Ishii.Toward realization of swarm intelligence mobile robots.International Congress Series,2006.6,Vol.1291:273-276P
[46]Arai T.,Ogata H.,Suzuki T..Collision avoidance among multiple robots using virtual impedance.IEEE/RSJ International Conference on Intelligent Robots and Systems,1989:479-485P
[47]Hayes A.T.,Dormiani-Tabatabaei P..Self-organized flocking with agent failure:Off-line optimization and demonstration with real robots.IEEE International Conference on Robotics and Automation,Washington,D.C.,2002:3900-3905P
[48]Yamaguchi H..A distributed motion coordination strategy for multiple nonholonomic mobile robots in cooperative hunting operations.IEEE Conference on Decision and Control,Las Vegas,Nevada,2002(41):2984-2991P
[49]Yamaguchi H..A cooperative hunting behavior by mobile-robot troops.International Journal of Robotics Research,1999(18):931-940P
[50]Fredslund J.,Mataric,M.J..Robot formations using only local sensing and control.IEEE International Symposium on Computational Intelligence in Robotics and Automation,Alberta,Canada,2001:308-313P
[51]Balch T.,Arkin R.C..Behavior-based formation control for multirobot teams.IEEE Transactions on Robotics and Automation,1998(14):926-939P
[52]Sudd J.H..The transport of prey by ants.Behaviour,1965,25(3):234-271P
[53]Kube R.C.,Zhang,H..Stagnation recovery behaviours for collective robotics.IEEE/RSJ International Conference on Intelligent Robots and Systems,1994:1893-1890P
[54]Bay J.S..Design of the "Army-Ant" cooperative lifting robot.IEEE Robotics & Automation Magazine,1995.3:36-43P
[55]Stilwell D.J.,Bay J.S..Toward the development of a material transport system using swarms of ant-like robots.IEEE International Conference on Robotics and Automation,Atlanta,GA,1993
[56]丁滢颍,何衍,蒋静坪.基于蚁群算法的多机器人协作策略.机器人.2003.9(25):414-418页
[57]Kitano H.,Asada M.,Kuniyoshi Y.,Noda I.,Osawa E..RoboCup:The Robot World Cup Initiative.First International Conference On Autonomous Agents,Marina del Ray,1997
[58]Drogoul A.,Ferber J..From Tom Thumb to the Dockers:Some experiments with foraging robots.Second International Conference on Simulation of Adaptive Behavior,Honolulu,HI,1992:451-459P
[59]Altenburg K..Adaptive resource allocation for a multiple mobile robot system using communication.North Dakota State University,Technical Report NDSU-CSOR-TR-9404,1994
[60]Sugawara K.,Sano M..Cooperative acceleration of task performance:Foraging behavior of interacting multi-robot systems.Physica D,1997(100):343-354P
[61]Sugawara K.,Watanabe T..Swarming robots-Foraging behavior of simple multirobot system.IEEE/RSJ International Conference on Intelligent Robots and Systems,Lausanne,Switzerland,2002:2702-2707P
[62]Mataric M.J..Designing and understanding adaptive group behavior.Adaptive Behavior,1995(4):51-80P
[63]Werger B.,Mataric M.J..Robotic "food" chains:Externalization of state and program for minimal-agent foraging.Fourth International Conference on Simulation of Adaptive Behavior:From Animals to Animats,1996(4):626-633P
[64]Deveza R.,Thiel D.,Russell A.,Mackay-Sim A..Odor sensing for robot guidance.International Journal of Robotics Research,1994(13):232-239P
[65]Russell A..Laying and sensing odor markings as a strategy for assisting mobile robot navigation tasks.IEEE Robotics & Automation Magazine,1995:3-9P
[66]Martinoli A.,Ijspeert A.J.,Mondada F..Understanding collective aggregation mechanisms:From probablistic modelling to experiments with real robots.Robotics and Autonomous Systems,1999(29):51-63P
[67]Ramos,Vitorino,Abraham,Ajith.ANTIDS:Self-Organized Ant-based Clustering Model for Intrusion Detection System.Cryptography and Security,Artificial Intelligence,2005(5):977-986P
[68]Zhou Lianying,Liu Fengyu.A Swarm-Intelligence-Based Intrusion Detection Technique.IJCSNS International Journal of Computer Science and Network Security,2006,6(7):146-149P
[69]Seyed-Hamid Zahiri,Seyed-Alireza Seyedin.Swarm intelligence based classifiers.Journal of the Franklin Institute Article in Press,Corrected Proof,2006.3:1-15P
[70]Ramos V,Almeida F.Artificial Ant Colonies in Digtal Image Habitats-A Mass Effect Study on Pattern Recognition.Processings of ANTS'2000-2nd International Workshop on Ant Algorithm(From Ant Colonies to Artificial Ants).2000:113-116P
[71]Romos V,Pina P,Muge F.Mining Textual Feature with Artificial Ant Colonies -Toward a Dynamic and Continuous Classification of Polished Marble Slabs.30th International Symposium on Computer Applications in the Mineral Industries.2002:25-27P
[72]Hamarneh G;Mcinerney T,Terzopou-Los D.Deformable Organism for Automatic Medical Image Analysis.Image Computing and Computer-Assisted Interverntion.2001.10:14-17P
[73]Gary Greenfield.Ant Paintings using a Multiple Pheromone Model.7th International Conference on Short and Medium Span Bridges 2006,2006.8:319-323P
[74]Jun J.-H.,Lee D.-W.,Sim K.-B..Realization of cooperative strategies and swarm behavior in distributed autonomous robotic systems using artificial immune system.IEEE International Conference on Systems,Man,and Cybernetics,1999(6):614-619P
[75]Taheri S.A.,Calva G..Imitating the human immune system capabilities for multiagent federation formation.2001 IEEE International Symposium on Intelligent Control,Mexico City,Mexico,2001:25-30P
[76]Mitsumoto N.,Fukada T.,Shimojima K.,Ogawa A..Micro autonomous robotic system and biologically inspired immune system swarm strategy as a multi agent robotic system.IEEE International Conference on Robotics and Automation,1995:2187-2192P
[77]Camazine S.,Deneubourg J.-L.,et al.Self-Organization in Biological Systems.Princeton:Princeton University Press,2001
[78]Pratt S.C..Recruiment and other communication behavior in the Ponerine ant Ectatomma ruidum.Ethology,1989(81):313-331P
[79]Bernstein R.A..Foraging strategies of ants in response to variable food density.Ecology,1975(56):213-219P
[80]Hahn,M.and Maschwitz,U..Foraging strategies and recruitment behaviour in the European harvester ant Messor rufitarsis(F.).Oecologia,1985,68(2):45-51P
[81]Mark Russell Edelen.Swarm Intelligence and Stigmergy:Robotic Implementation of Foraging Behaviour.Faculty of the Graduate School of the University of Maryland,2003
[82]Deneubourg J.-L.,Goss S.,Franks N.,Pasteels J.M..The blind leading the blind:Modeling chemically mediated army ant raid patterns.Journal of Insect Behavior,1989(2):719-725P
[83]Deneubourg J.-L.,Aron S.,Goss S.,Pasteels J.M..The self-organizing exploratory pattern of the Argentine ant.Journal of Insect Behavior,1990(3):159-168
[84]Edelstein-Keshet L..Simple models for trail-following behavior;Trunk trails ersus individual foragers.Journal of Mathematical Biology,1994(32):303-328P
[85]Burton J.L.,Franks N..The foraging ecology of the army ant Eciton rapax:an ergonomic enigma.Ecological Entomology,1985(10):131-141P
[86]Jun J.-H.,Lee D.-W.,Sim K.-B..Realization of cooperative strategies and swarm behavior in distributed autonomous robotic systems using artificial immune system.IEEE International Conference on Systems,Man,and Cybernetics,1999(6):614-619P
[87]Beckers R.,Deneubourg J.-L.,Goss S..Modulation of trail laying in the ant Lasius niger(Hymenoptera:Formicidae) and its role in the collective selection of a food source.Journal of Insect Behavior,1993(6):751-759P
[88]Deneubourg J.-L.,Theraulaz G.,Beckers R..Swarm-made architectures.European Conference on Artificial Life,1992:123-133P
[89]Detrain C.,Deneubourg J.-L..Scavenging by Pheidole pallidula:a key for understanding decision-making systems in ants.Animal Behaviour,1997(53)
[90]Judd T.M.,Sherman P.W..Naked mole-rats recruit colony mates to food sources.Animal Behaviour,1996(52):957-969P
[91]Bonabeau E.,Theraulaz G.,Deneubourg J.-L.,Aron S.,Camazine S., Selforganization in social insects.Trends in Ecology and Evolution,1997(12):188-193P
[92]Camazine S..Self-organizing pattern formation on the combs of honey bee colonies.Behavioral Ecology and Sociobiology,1991(28):61-76P
[93]Camazine S.,Sneyd J..A model of collective nectar source selection by honey bees:self-organization through simple rules.Journal of Theoretical Biology,1991(149):547-571P
[94]Holldobler B.,Wilson E.O..The Ants.Cambridge,Mass.:Harvard University Press,1990
[95]Edelstein-Keshet L.,Watmough J.,Ermentrout G.Trail following in ants:individual properties determine population behavior.Behavioral Ecology and Sociobiology,1995(36):119-133P
[96]Deneubourg J.-L.,Pasteels J.M.,Verhaeghe J.C..Probabilistic behaviour in ants:A strategy of errors?.Journal of Theoretical Biology,1983(105):259-271P
[97]Beckers R.,Deneubourg J.-L.,Goss S..Trail laying behaviour during food recruitment in the ant Lasius niger(L.).Insectes Sociaux,1992(39):59-72P
[98]Pasteels J.M.,Deneubourg J.-L.,Goss S..Self-organization mechanisms in ant societies(Ⅰ):Trail recruitment to newly discovered food sources.Experientia Supplementum,1987(54):155-175P
[99]Resnick M..Turtles,Termites,and Traffic Jams:Explorations in Massively Parallel Microwodds.London:MIT Press,1994
[100]Bonabeau E.,Cogne F..Oscillation-enhanced adaptability in the vicinity of a bifurcation:the example of foraging in ants.Fourth International Conference on Simulation of Adaptive Behavior:From Animals to Animats,1996:537-542P
[101]沈小峰.耗散结构论.上海:上海人民出版社,1987
[102]Tianguang Chu,Long Wang,Tongwen Chen,Shumei Mu.Complex emergent dynamics of anisotropic swarms:Convergence vs oscillation.Chaos Solitons & Fractals,2006,30(4):875-885P
[103]L.Wang,H.Shi,T.Chu,W.Zhang,L.Zhang.Aggregation of Foraging Swarms.LNAI3339,2004:766-777P
[104]Bo Liu,Tianguang Chu,Long Wang.Collective Behavior Analysis of a Class of Social Foraging Swarms.LNAI3630,2005:584-593P
[105]Bo Liu,Tianguang Chu,Long Wang.Stability and Oscillation of Swarm With Interaction Time Delays.Proceedings of the 2007 American Control Conference.New York City,USA,2007.7:4600-4605P
[106]Ian A.Gravagne,Robert J.Marks,II.Emergent Behaviors of Protector,Refugee,and Aggressor Swarms.IEEE Transactions on Systems,Man,and Cybernetics-PART B:Cybernetics,2007,30(2):471-476P
[107]E.D.Lumer,B.Faieta.Diversity and adaptation in populations of clustering ants.In Proceedings of the Third International Conference on Simulation of Adaptive Behavior,1994:501-508P
[108]N.R.Franks,A.Sendova-Franks.Brood sorting by ants:Distributing the workload over the work-surface.Behavioral Ecology and Sociobiology,1992,30(2):109-123P
[109]M.Wilson,C.Meluish,A.Sendova-Franks,S.R.Scholes.Algorithms for Building Annular Structures with Minimalist Robots Inspired by Brood Sorting in Ant Colonies.Autonomous Robots,2004,17(1):115-136P
[110]Vegard Hartmann.Evolving Agent Swarms for Clustering and Sorting.Proceedings of the Genetic and Evolutionary Computation Conference(GECCO 2005).Washington,D.C.,USA,2005.217-224P
[111]何小贤,朱云龙,王玫.群集智能中的知识涌现与复杂适应性问题综述研究.信息与控制,2005,34(5):560-565页
[112]Nicolis S.C.Detrain C.,Demolin D.,Deneubourg J.L.Optimality of Collective Choices:A Stochastic Approach.Bulletin of Mathematical Biology.2003,65(5):795-808P
[113]贾秋玲,闫建国,王新民.基于势函数的多机器人系统的编队控制.机器人,2006,28(2):111-114页
[114]Wei-Min Shen,Cheng-Ming Chuong,Peter Will.Simulating Self-Organization for Multi-Robot Systems.International Conference on Intelligent and Robotic Systems,Switzerland,2002:2776-2781P