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Synchronization of internal neural rhythms in multi-robotic systems |
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Steffen Wischmann, Martin Hülse, Johannes Knabe and Frank Pasemann |
| This paper shows how to coordinate individual action within a group of robots that have to accomplish a common task, gathering energy in a dynamic environment and transferring this energy to a nest. Each individual behavioral pattern is driven by an internal neural rhythm generator exhibiting quasi-periodic oscillations. The paper describes the implementation of this generator, its influence on the dynamics of artificial recurrent neural networks controlling the robots, and the synchronization of internal rhythms with differing frequencies in a group of up to 150 robots. Synchronization is achieved either by environmental stimuli or even by self-organising processes based on solely local interactions within a robot population. |
