Emergent of Burden Sharing of Robots with Emotion Model

Abstract

Cooperated multi robots system has much dominance in comparison with single robot system. Multi robots system is able to adapt to various circumstances and has a flexibility for variation of tasks. Robots are necessary that build a cooperative relations and acts as an organization to attain a purpose in multi robots system. Then, group behavior of insects which doesn't have advanced ability is observed. For example, ants called a sociality insect emerge systematic activities by the interaction with using a very simple way. Though ants make a communication with chemical matter, a human plans a communication by words and gestures. In this paper, we paid attention to the interaction based on psychological viewpoint. And a human's emotion model was used for the parameter which became a base of the motion planning of robots. These robots were made to do both-way action in test field with obstacle. As a result, a burden sharing like guide or carrier was seen even though those had a simple setup.

An Improved Internal Model of Autonomous Robots by a Psychological Approach

“…In [11], it is pointed that the circumplex model suggested a clear structure and has large heuristic value for the evaluation of emotion. The group of Ide and Nozawa used the concept of the circumplex model to design an emotion model to evoke interactions or cooperative behaviors of multiple autonomous robots [8,9]. Furthermore, Oudeyer and Kaplan used a curiosity model that considered the influence of time factor to raise the motivation of adaptive activities of robots [13].…”

“…8,9); (3) A robot comes up to other robots that are ''pleasure'' appearing within the vision and comes off to ones in the opposite case (Eq. 2); (4) A robot comes up to other robots, when it is in the state of ''pleasure'', and comes off to the others in the opposite case (Eq.…”

“…5, 6); (6) The degree of ''arousal'' is increased, when other robots are observed, and reduced in the opposite case (Eqs. 8,9).…”

“…We also proposed a neuro-fuzzy reinforcement learning system for swarm formation and adaptive swarm behavior acquisition of the swarm robots in the previous work [4][5][6][7]. Meanwhile, Ide and Nozawa group proposed an internal model in [8,9], which drives autonomous robots avoiding obstacles and exploring a goal in the unknown environments using a psychological model proposed by Russell in [10,11]. Russell's ''circumplex model of affect'' assigns 8 kinds of major emotions on a two-dimensional map, and by psychological analysis of evidences, affective states such as pleasure, excitement, arousal, distress, misery, depression, sleepiness, and contentment are categorized orderly in a pleasure-arousal space (Fig.…”

“…And these states of other robots are also observed and affect the values of ''pleasure'' or ''sleepiness'' of the observer (robot). In [9], the emotion model is applied to cooperative work acquisition of autonomous robots. However, when we executed the simulation of goal-exploration problem using the model, some practical problems were found such as dead-lock, limitation of vision depth, and restriction of speed.…”