Communication using pheromone field for multiple robots

Fujisawa, Ryusuke; Imamura, Hiroki; Hashimoto, Takashi; Matsuno, Fumitoshi

doi:10.1109/iros.2008.4650971

Cited by 38 publications

(22 citation statements)

References 11 publications

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“…Approaches range from the use of real chemicals (Russell 1999;Fujisawa et al 2008aFujisawa et al , 2008b, to message passing between robots (Campo et al 2010b), to the use of digital video projectors to cast images of pheromone trails on the ground (Sugawara et al 2004;Garnier et al 2007;Hamman et al 2007). There are also works in which the environment is enhanced in order to let it store information.…”

Section: Collective Decision-making In Artificial Swarmsmentioning

confidence: 99%

Majority-rule opinion dynamics with differential latency: a mechanism for self-organized collective decision-making

Ferrante

Scheidler

et al. 2011

Swarm Intell

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Collective decision-making is a process whereby the members of a group decide on a course of action by consensus. In this paper, we propose a collective decision-making mechanism for robot swarms deployed in scenarios in which robots can choose between two actions that have the same effects but that have different execution times. The proposed mechanism allows a swarm composed of robots with no explicit knowledge about the difference in execution times between the two actions to choose the one with the shorter execution time. We use an opinion formation model that captures important elements of the scenarios in which the proposed mechanism can be used in order to predict the system's behavior. The model predicts that when the two actions have different average execution times, the swarm chooses with high probability the action with the shorter average execution time. We validate the model's predictions through a swarm robotics experiment in which robot teams Electronic supplementary material The online version of this article (306 Swarm Intell (2011) 5:305-327 must choose one of two paths of different length that connect two locations. Thanks to the proposed mechanism, a swarm made of robot teams that do not measure time or distance is able to choose the shorter path.

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Section: Collective Decision-making In Artificial Swarmsmentioning

confidence: 99%

Majority-rule opinion dynamics with differential latency: a mechanism for self-organized collective decision-making

Ferrante

Scheidler

et al. 2011

Swarm Intell

View full text Add to dashboard Cite

show abstract

“…However, implementing a robotic system that replicates the ants' foraging behaviour suffers from the complex problem of finding an alternative to the pheromones, given that chemical substances are difficult to exploit in a robotic setup (for some attempts to disperse and sense chemicals, see Russell et al 1994;Fujisawa et al 2008). Various approaches have been tested for the purpose of finding alternatives to pheromones.…”

Section: Related Workmentioning

confidence: 99%

Self-organised path formation in a swarm of robots

2011

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In this paper, we study the problem of exploration and navigation in an unknown environment from an evolutionary swarm robotics perspective. In other words, we search for an efficient exploration and navigation strategy for a swarm of robots, which exploits cooperation and self-organisation to cope with the limited abilities of the individual robots. The task faced by the robots consists in the exploration of an unknown environment in order to find a path between two distant target areas. The collective strategy is synthesised through evolutionary robotics techniques, and is based on the emergence of a dynamic structure formed by the robots moving back and forth between the two target areas. Due to this structure, each robot is able to maintain the right heading and to efficiently navigate between the two areas. The evolved behaviour proved to be effective in finding the shortest path, adaptable to new environmental conditions, scalable to larger groups and larger environment size, and robust to individual failures.

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“…Even if chemical substances [36], electrical devices such as Radio Frequency Identification Devices (RFIDs) [37] [38] [39] [40] are examples of real implementation of stigmergic communication in real world experiments, it is still important to understand and improve pheromone-based algorithms in simulations. By understanding the optimal conditions required for pheromone-based coordination, the real world implementations can also be better directed [31].…”

Section: Related Workmentioning

confidence: 99%

Stigmergic MASA: A Stigmergy Based Algorithm for Multi-Target Search

Zedadra¹,

Séridi²,

Jouandeau³

et al. 2014

Annals of Computer Science and Information Systems

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Abstract-We explore the on-line problem of coverage where multiple agents have to find a target whose position is unknown, and without a prior global information about the environment. In this paper a novel algorithm for multi-target search is described, it is inspired from water vortex dynamics and based on the principle of pheromone-based communication. According to this algorithm, called S-MASA (Stigmergic Multi Ant Search Area), the agents search nearby their base incrementally using turns around their center and around each other, until the target is found, with only a group of simple distributed cooperative Ant like agents, which communicate indirectly via depositing/detecting markers. This work improves the search performance in comparison with random walk and S-random walk (stigmergic random walk) strategies, we show the obtained results using computer simulations.

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Communication using pheromone field for multiple robots

Cited by 38 publications

References 11 publications

Majority-rule opinion dynamics with differential latency: a mechanism for self-organized collective decision-making

Majority-rule opinion dynamics with differential latency: a mechanism for self-organized collective decision-making

Self-organised path formation in a swarm of robots

Stigmergic MASA: A Stigmergy Based Algorithm for Multi-Target Search

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