Information Technology Reference
In-Depth Information
cyberspace
P
5
P
3
P
7
A3
A2
A5
A1
P
6
P
2
P
4
P
8
P
1
A4
real-space
Fig. 5.6
Schema of the urban environment with litter bins and its model in cyberspace
the capacity of a robot is larger than the capacity of a litter bin, i.e., the robot may
empty more than one bin (a few bins),
from time to time a given robot is excluded from the emptying action to take waste
to a rubbish dump.
The task of management of robots involves leading the robots in such a way so
that they would get to full bins without excessive wandering around the streets. That
task is realized by the appropriate agent system operating in cyberspace. The system
is designed as follows:
A network of streets in the city is mapped in cyberspace in the form of a graph
(streets represent edges, nodes represent crossroads).
In certain places of the graph litter bins with information about the level to which
they are filled are mapped (e.g., expressed as a percentage).
Each robot corresponds to the agent which may move around on the edges of the
graph.
The agent related to a particular robot may realize the following operations:
- define the location of a corresponding robot in the city,
- map this location in the graph in cyberspace and take this place itself,
- update its location in the whole graph,
- have an influence on the control of a robot, leading it around the streets according
to its intentions.
The agent that corresponds to a given robot is responsible for leading it to the bin
that needs emptying.
The concept of pheromones applied to the ant systems provided an inspiration
for the realization of the solution described above. If we assume that the ant system
