Auflistung nach Autor:in "Pochon, Yann"

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  • Kein Vorschaubild vorhanden
    Publikation
    Implementing swarm democracy to robot logic
    (Hochschule für Wirtschaft FHNW, 2017) Pochon, Yann; Dornberger, Rolf; Korkut, Safak
    The goal of this research is to study the possibilities given by a swarm self-organization in a concrete use-case: A swarm of exploration robot had been given the task to research the area to find the best-of-n spot to build a solar electricity generator (or any other kind of building). Each robot will search in the area and acquire knowledges about the potentials spots. The selection of the best place will then require a complex reflexion work among the findings....The principle of Swarm Intelligence is to use a decentralized architecture, as it brings many advantages (as scalability). With this system, it is necessary that all the swarm agree on a decision taken. Otherwise, the group will fail to move as one. The need of new decision model rises. Literature showed a notable potential for nature-inspired algorithms in the area. Flock of birds, shoal of fish or swarm of bees are famous examples. This thesis will focus on how to implement a social voting system in a swarm of robots. The goal is to compare the efficiency of a democratic system, inspired by bees, to a standard, centralized, model(formally despotic system).
    11 - Studentische Arbeit
  • Kein Vorschaubild vorhanden
    Publikation
    Investigating the democracy behavior of swarm robots in the case of a best-of-n selection
    (2018) Pochon, Yann; Dornberger, Rolf; Zhong, Jia; Korkut, Safak; Sundaram, Suresh
    In swarm robotics, a challenging task is to let the decentralized acting agents make a joint decision, when the individual robots of the swarm only have partial knowledge of the search space. In this paper, we propose a new nature-inspired method for decision-making in the case of a best-of-n selection, investigating the democracy behavior of honeybees and implementing it in swarm robots. The feasibility of our model is tested using a swarm consisting of real hardware robots, the so-called Kilobots. It is shown that our proposed democratic model proves to be resistant to malicious manipulation in the consensus-finding process. Thus, the democracy behavior of honeybees implemented in swarm robots robustly finds the best-of-n selection.
    04B - Beitrag Konferenzschrift