Swarm perception refers to the ability of a robot swarm to utilize the perception capabilities of each individual robot, forming a collective understanding of the environment. Their distributed nature enables robot swarms to continuously monitor dynamic environments by maintaining a constant presence throughout the space.In this study, we present a preliminary experiment on the collective tracking of people using a robot swarm. The experiment was conducted in simulation across four different office environments, with swarms of varying sizes. The robots were provided with images sampled from a dataset of real-world office environment pictures.We measured the time distribution required for a robot to detect a person changing location and to propagate this information to increasing fractions of the swarm. The results indicate that robot swarms show significant promise in monitoring dynamic environments.

翻译：群体感知是指机器人集群利用每个机器人的感知能力，形成对环境集体理解的能力。其分布式特性使机器人集群能够通过在整个空间保持持续存在，实现对动态环境的连续监测。本研究提出了一项利用机器人集群进行人员集体追踪的初步实验。实验在四种不同的办公室环境中通过仿真进行，并采用了不同规模的集群配置。机器人接收的输入图像采样自真实办公室环境图片数据集。我们测量了机器人检测到人员位置变化并将该信息传播至集群中不同比例成员所需的时间分布。结果表明，机器人集群在动态环境监测方面展现出显著的应用潜力。