Algorithms for Building Annular Structures with Minimalist Robots Inspired by Brood Sorting in Ant Colonies

Wilson, M.N.; Melhuish, Chris; Sendova‐Franks, Ana B.; Scholes, S. R.

doi:10.1023/b:auro.0000033969.52486.3d

Cited by 45 publications

(85 citation statements)

References 19 publications

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“…To avoid any bias, the robots are selected at random and independently from the order in which they were assigned to their positions. The required number of robots with disk radii r (i) is obtained from Equation (11). In principle, each robot could choose disk radius r (i) with probability…”

Section: Methodsmentioning

confidence: 99%

“…One can also recognize that groups 2 and 3 are further apart than groups 1 and 2. The reason for this could be that the larger the disk sizes of a group, the less dense the packing [the distribution characterized by Equation (11) assumes that all disks can be packed at density 1].…”

Section: E Error-free Segregation By Increasing the Size Ratiomentioning

confidence: 99%

“…Melhuish et al [9], [10] and Wilson et al [11] investigated simple rules to let a colony of physical robots built annular structures by pushing and pulling pucks of particular size. They explored several mechanisms inspired by the behavior of Leptothorax ants [12].…”

Section: Introductionmentioning

confidence: 99%

“…One reason for this was that multiple performance criteria were targeted: In addition to segregation, the compactness, shape, and completeness of the resulting structure were considered. Moreover, Wilson et al [11] state "there is [...] no force similar to a gravitational force, required for muesli sorting, toward the centre of the cluster. Here gravity is replaced by a clustering tendency provided by the robots, but this does not seem to provide the objects with a strong enough pull towards the centre of the cluster.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Segregation in swarms of mobile robots based on the Brazil nut effect

Groß

Magnenat

Mondada

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-We study a simple algorithm inspired by the Brazil nut effect for achieving segregation in a swarm of mobile robots. The algorithm lets each robot mimic a particle of a certain size and broadcast this information locally. The motion of each particle is controlled by three reactive behaviors: random walk, taxis, and repulsion by other particles. The segregation task requires the swarm to self-organize into a spatial arrangement in which the robots are ranked by particle size (e.g., annular structures or stripes).Using a physics-based computer simulation, we study the segregation performance of swarms of 50 mobile robots. The robots represent particles of three different sizes. We first analyze the problem of how to combine the basic behaviors so as to minimize the percentage of errors in rank. We then show that the system is very robust to noise on inter-robot perception and communication. For a noise level of 50%, the mean percentage of errors in rank is 1%. Moreover, we investigate a simplified version of the control algorithm, which does not rely on communication.Finally, we show that the mean percentage of errors in rank decreases exponentially as the particles' size ratio increases. As the error is bounded, one can achieve 100% error-free segregation. The reduction in error, however, comes at the expense of an increase in the required sensing/communication range.

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Section: Methodsmentioning

confidence: 99%

Section: E Error-free Segregation By Increasing the Size Ratiomentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Segregation in swarms of mobile robots based on the Brazil nut effect

Groß

Magnenat

Mondada

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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show abstract

“…Holland and Melhuish, 1999;Ijspeert et al 2001;Kube and Bonabeau, 2000;Wilson et al, 2004;Trianni et al, 2004). To date, two international workshops have been held on the topic (Sahin and Spears, 2004;Sahin, Spears and Winfield, 2006).…”

Section: Introductionmentioning

confidence: 99%

Swarm robotics and minimalism

Sharkey

2007

Connection Science

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Swarm Robotics (SR) is closely related to Swarm Intelligence, and both were initially inspired by studies of social insects. Their guiding principles are based on their biological inspiration and take the form of an emphasis on decentralised local control and communication. Earlier studies went a step further in emphasising the use of simple reactive robots that only communicate indirectly through the environment. More recently SR studies have moved beyond these constraints to explore the use of non-reactive robots that communicate directly, and that can learn and represent their environment. There is no clear agreement in the literature about how far such extensions of the original principles could go. Should there be any limitations on the individual abilities of the robots used in SR studies? Should knowledge of the capabilities of social insects lead to constraints on the capabilities of individual robots in SR studies? There is a lack of explicit discussion of such questions and researchers have adopted a variety of constraints for a variety of reasons. A simple taxonomy of swarm robotics is presented here with the aim of addressing and clarifying these questions. The taxonomy distinguishes sub-areas of SR based on the emphases and justifications for minimalism and individual simplicity.

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Evolving Annular Sorting in Ant-Like Agents

Vik

2005

Advances in Artificial Life

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Algorithms for Building Annular Structures with Minimalist Robots Inspired by Brood Sorting in Ant Colonies

Cited by 45 publications

References 19 publications

Segregation in swarms of mobile robots based on the Brazil nut effect

Segregation in swarms of mobile robots based on the Brazil nut effect

Swarm robotics and minimalism

Evolving Annular Sorting in Ant-Like Agents

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