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第52行： − 集群机器人技术的研究包括：机器人的设计，物理构造及其行为控制。它受到在社会性昆虫中观察到的涌现行为的启发，但是不受其限制，这种突发行为被称为集群智能。相对简单的个体规则会产生大量复杂的群体行为。其关键组成部分是建立起持续反馈系统，该反馈系统主要来自于小组成员之间的无间断沟通。群体行为涉及到个体在合作中不断产生的变化，同时也包括整个群体展现出的行为表现。+ − + 第55行：
第60行： − + − --[[用户:Zengsihang|Zengsihang]]（[[用户讨论:Zengsihang|讨论]]） 【审校】“该本地通信包括可以通过无线传输系统实现”改为“本地通信可以通过无线传输系统实现” 第65行：
第69行： − 微型化和成本是集群机器人技术的两大关键因素。它们会制约着大型机器人群体的构建；因此，单个团队成员的简单性就显得尤为重要。其目的是应该基于群体级别而非单一个体级别，来激发一种群体智能方法，去实现有意义的行为。目前出现了大量关于单个机器人级别简单性目标的研究。如果能够在集群机器人技术研究中使用实际硬件操作而非通过仿真实现，就可以使研究人员遇到并解决更多问题，从而加深集群行为的研究。因此，开发用于集群智能研究的简单机器人是该领域发展中非常重要的环节。目标包括：降低单个机器人的成本，和提升它的可扩展性，从而使集群中的每个机器人对资源消耗更少，因此会提高其功率或能效。+
无编辑摘要
--[[用户:Zengsihang|Zengsihang]]（[[用户讨论:Zengsihang|讨论]]） 【审校】“同时对昆虫，蚂蚁和其他自然界中会发生群体行为的生物学研究领域也有所囊括”中的“有所囊括”改为“有所帮助”
--[[用户:Zengsihang|Zengsihang]]（[[用户讨论:Zengsihang|讨论]]） 【审校】“同时对昆虫，蚂蚁和其他自然界中会发生群体行为的生物学研究领域也有所囊括”中的“有所囊括”改为“有所帮助”
--[[用户:Thingamabob|Thingamabob]]（[[用户讨论:Thingamabob|讨论]]） 【审校】“'''<font color="#ff8000"> 集群机器人技术 Swarm Robotics</font>'''是通过某一种方法将多个机器人协调为一个系统，该系统由大量多数简单的物理机器人组成。”改为“'''<font color="#ff8000"> 集群机器人技术 Swarm Robotics</font>'''是一种将多个简单机器人协调为一个系统的方法。
--[[用户:Thingamabob|Thingamabob]]（[[用户讨论:Thingamabob|讨论]]） 【审校】改：“该方法假定，在机器人之间以及机器人与环境之间的相互作用中会产生一种预期的集体行为。该方法经常出现在人工群体智能领域和昆虫，蚂蚁等自然界中有群体行为的生物学研究领域。”
== Definition 定义 ==
== Definition 定义 ==
The research of swarm robotics is to study the design of robots, their physical body and their controlling behaviours. It is inspired but not limited by the emergent behaviour observed in social insects, called swarm intelligence. Relatively simple individual rules can produce a large set of complex swarm behaviours. A key-component is the communication between the members of the group that build a system of constant feedback. The swarm behaviour involves constant change of individuals in cooperation with others, as well as the behaviour of the whole group.
The research of swarm robotics is to study the design of robots, their physical body and their controlling behaviours. It is inspired but not limited by the emergent behaviour observed in social insects, called swarm intelligence. Relatively simple individual rules can produce a large set of complex swarm behaviours. A key-component is the communication between the members of the group that build a system of constant feedback. The swarm behaviour involves constant change of individuals in cooperation with others, as well as the behaviour of the whole group.
集群机器人技术的研究包括：设计机器人，物理构造及其行为控制。它受到在社会性昆虫中观察到的涌现行为的启发，但是不受其限制，这种突发行为被称为集群智能。相对简单的个体规则会产生大量复杂的群体行为。其关键组成部分是建立起持续反馈系统，该反馈系统主要来自于小组成员之间的无间断沟通。群体行为涉及到个体在合作中不断产生的变化，同时也包括整个群体展现出的行为表现。
--[[用户:Zengsihang|Zengsihang]]（[[用户讨论:Zengsihang|讨论]]） 【审校】“它受到在社会性昆虫中观察到的涌现行为的启发，但是不受其限制，这种突发行为被称为集群智能”改为“它受到社会性昆虫中观察到的新兴行为（被称为集群智能）的启发，并有所延伸”
--[[用户:Zengsihang|Zengsihang]]（[[用户讨论:Zengsihang|讨论]]） 【审校】“它受到在社会性昆虫中观察到的涌现行为的启发，但是不受其限制，这种突发行为被称为集群智能”改为“它受到社会性昆虫中观察到的涌现行为（被称为集群智能）的启发，并有所延伸”
Unlike [[distributed robotic system]]s in general, swarm robotics emphasizes a ''large'' number of robots, and promotes [[scalability]], for instance by using only local communication.<ref>{{cite book|last=Hamann|first=H.|title=Swarm Robotics: A Formal Approach|url=https://books.google.com/books?id=pnNLDwAAQBAJ|year=2018|publisher=Springer International Publishing|location=New York|isbn=978-3-319-74528-2}}</ref> That local communication for example can be achieved by [[wireless]] transmission systems, like [[radio frequency]] or [[infrared]].<ref>[http://correll.cs.colorado.edu/wp-content/uploads/correll_rus_chapter3.pdf N. Correll, D. Rus. Architectures and control of networked robotic systems. In: Serge Kernbach (Ed.): Handbook of Collective Robotics, pp. 81-104, Pan Stanford, Singapore, 2013.]</ref>
Unlike [[distributed robotic system]]s in general, swarm robotics emphasizes a ''large'' number of robots, and promotes [[scalability]], for instance by using only local communication.<ref>{{cite book|last=Hamann|first=H.|title=Swarm Robotics: A Formal Approach|url=https://books.google.com/books?id=pnNLDwAAQBAJ|year=2018|publisher=Springer International Publishing|location=New York|isbn=978-3-319-74528-2}}</ref> That local communication for example can be achieved by [[wireless]] transmission systems, like [[radio frequency]] or [[infrared]].<ref>[http://correll.cs.colorado.edu/wp-content/uploads/correll_rus_chapter3.pdf N. Correll, D. Rus. Architectures and control of networked robotic systems. In: Serge Kernbach (Ed.): Handbook of Collective Robotics, pp. 81-104, Pan Stanford, Singapore, 2013.]</ref>
Unlike distributed robotic systems in general, swarm robotics emphasizes a large number of robots, and promotes scalability, for instance by using only local communication. That local communication for example can be achieved by wireless transmission systems, like radio frequency or infrared.
Unlike distributed robotic systems in general, swarm robotics emphasizes a large number of robots, and promotes scalability, for instance by using only local communication. That local communication for example can be achieved by wireless transmission systems, like radio frequency or infrared.
与一般的'''<font color="#ff8000"> 分布式机器人系统Distributed Robotic Systems</font>'''不同，群体机器人技术强调需要大量的机器人并提高其可扩展性，例如仅使用本地通信连接。该本地通信包括可以通过无线传输系统实现，例如射频或红外。
与一般的'''<font color="#ff8000"> 分布式机器人系统Distributed Robotic Systems</font>'''不同，集群机器人技术强调需要大量的机器人并提高其可扩展性，例如仅使用本地通信连接。本地通信可以通过射频或红外等无线传输系统实现。
== Goals and applications 目标与应用 ==
== Goals and applications 目标与应用 ==
Miniaturization and cost are key factors in swarm robotics. These are the constraints in building large groups of robots; therefore the simplicity of the individual team member should be emphasized. This should motivate a swarm-intelligent approach to achieve meaningful behavior at swarm-level, instead of the individual level. <br />Much research has been directed at this goal of simplicity at the individual robot level. Being able to use actual hardware in research of Swarm Robotics rather than simulations allows researchers to encounter and resolve many more issues and broaden the scope of Swarm Research. Thus, development of simple robots for Swarm intelligence research is a very important aspect of the field. The goals include keeping the cost of individual robots low to allow scalability, making each member of the swarm less demanding of resources and more power/energy efficient.
Miniaturization and cost are key factors in swarm robotics. These are the constraints in building large groups of robots; therefore the simplicity of the individual team member should be emphasized. This should motivate a swarm-intelligent approach to achieve meaningful behavior at swarm-level, instead of the individual level. <br />Much research has been directed at this goal of simplicity at the individual robot level. Being able to use actual hardware in research of Swarm Robotics rather than simulations allows researchers to encounter and resolve many more issues and broaden the scope of Swarm Research. Thus, development of simple robots for Swarm intelligence research is a very important aspect of the field. The goals include keeping the cost of individual robots low to allow scalability, making each member of the swarm less demanding of resources and more power/energy efficient.
微型化和成本是集群机器人技术的两大关键因素。它们制约着机器人的大规模发展；因此，单个团队成员的简单性就显得尤为重要。其目的是应该基于群体级别而非单一个体级别，来激发一种群体智能方法，去实现有意义的行为。目前出现了大量关于单个机器人级别简单性目标的研究。如果能够在集群机器人技术研究中使用实际硬件操作而非通过仿真实现，就可以使研究人员遇到并解决更多问题，从而加深集群行为的研究。因此，开发用于集群智能研究的简单机器人是该领域发展中非常重要的环节。目标包括：降低单个机器人的成本，和提升它的可扩展性，从而使集群中的每个机器人对资源消耗更少，因此会提高其功率或能效。
--[[用户:Zengsihang|Zengsihang]]（[[用户讨论:Zengsihang|讨论]]） 【审校】“其目的是应该基于群体级别而非单一个体级别，来激发一种群体智能方法，去实现有意义的行为”改为“这些机器人应当从群体层面激发出群体智能方法，以产生有意义的行为，而非在个体层面各自运行”
--[[用户:Zengsihang|Zengsihang]]（[[用户讨论:Zengsihang|讨论]]） 【审校】“其目的是应该基于群体级别而非单一个体级别，来激发一种群体智能方法，去实现有意义的行为”改为“这些机器人应当从群体层面激发出群体智能方法，以产生有意义的行为，而非在个体层面各自运行”