In this article, we consider how a very large numbers of robots, differing in their bodies, sensing, and intelligence, may be made to coexist, communicate, and compete fairly toward achieving their individual goals, i.e., to build a society of robots. We discuss some characteristics that the rules defining acceptable social behaviors should possess. We consider threats that may be posed to such a society by the misbehaviors of some of its members, either due to faults or malice, and the possibility to detect and isolate them through cooperation of peers. The article presents examples of motion control protocols, for arbitrarily large groups of heterogeneous robots. We discuss intrusion detection algorithms, which allow detection of deviance from such rules, and algorithms to build a consensus view on the environment and on the integrity of peers, so as to improve the overall security of the society of robots.
|Numero di pagine||11|
|Rivista||IEEE Robotics and Automation Magazine|
|Stato di pubblicazione||Published - 2010|
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