Bir Robot Sürüsünde Görsel Kopyalama Algoritmasının Analizi

Yıl 2024, Cilt: 12 Sayı: 4, 1789 - 1803, 23.10.2024

Ferhat Demiray , Mehmet Dinçer Erbaş

https://doi.org/10.29130/dubited.1390036

Öz

Bu çalışmada gerçek robotlar üzerinde bir görsel kopyalama algoritması incelenmiş ve bu algoritmayı kullanarak birbirlerinden görsel yolla öğrenen robotların yaptıkları imitasyon hatalarının kökeni araştırılmıştır. İmitasyon hatalarının olası kaynakları olarak, gösterici robotun eyleyicileri ile izleyici robotun algılayıcıları belirlenmiştir. Öncelikle eyleyici kaynaklı hataların miktarı ve sıklığı ölçülmüş ve bu hata türünün minimal ölçüde gözlemlendiği belirtilmiştir. Daha sonra algılayıcı kaynaklı hatalar bir deney senaryosu içerisinde iki farklı güzergâh karşılaştırma metriği kullanılarak incelenmiş ve bu tür hataların kökeni tartışılmıştır. Böylece, gerçek robotlar üzerinde yapılan deneylerde, doğal sistemlerdekine benzer şekilde, imitasyon sırasında ortaya çıkan hatalardan kaynaklı davranış çeşitliliği gözlemlenebildiği belirtilmiştir.

Anahtar Kelimeler

Görsel imitasyon, Çok-robotlu sistemler, Sürü Robotlar

Analysis of a Visual Imitation Algorithm on a Robot Swarm

Öz

In this research, we examined a visual imitation algorithm on a group of real robots and analyzed the source of copying errors that are made by the robots visually learning by using this algorithm. As the two possible sources of the copying errors, the actuators of the demonstrator robot and the sensors of the learner robot were specified. First, it is calculated the amount and frequency of errors due to the actuators and we showed that errors due to actuators of the demonstrator robot were minimal. Second, it is examined the errors due to the sensors by using two different trajectory similarity metric in an experiment scenario and we discussed the origin of this kind of imitation error. In this way, we were able to model a source of behavioral diversity in a robot collective, which is similar to the natural systems, which results from errors that emerge during imitation activity.

Anahtar Kelimeler

Visual imitation, Multi-robot systems, Swarm robotics

Kaynakça

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