Dynamic Task Partitioning for Foraging Robot Swarms

Buchanan, Edgar; Pomfret, Andrew; Timmis, Jon

doi:10.1007/978-3-319-44427-7_10

Cited by 12 publications

(15 citation statements)

References 19 publications

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“…Similarly, modules are collections of controllers that may interact with each other. A module defines the boundaries of the robotic application modelled and specifies the interface of such application through a robotic platform, which provides an [16] abstraction of the hardware in terms of variables, events, and operations.…”

Section: Languagementioning

confidence: 99%

“…In this section, we use the model of a foraging robot described in [16] to present RoboChart. The goal of this robot is to search an area (the source) for objects, collect one object, and deliver it to another area (the nest).…”

Section: Notationmentioning

confidence: 99%

“…3. Although this is not a common practice in robotics, these simple specifications capture the properties of the two implementations experimented with in simulations reported in [16]. RoboChart does not require the definition of pre-and postconditions; we can leave the functions completely unspecified and provide an implementation just for verification, as is done with simulations.…”

Section: Notationmentioning

confidence: 99%

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RoboChart: modelling and verification of the functional behaviour of robotic applications

et al. 2019

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Robots are becoming ubiquitous: from vacuum cleaners to driverless cars, there is a wide variety of applications, many with potential safety hazards. The work presented in this paper proposes a set of constructs suitable for both modelling robotic applications and supporting verification via model checking and theorem proving. Our goal is to support roboticists in writing models and applying modern verification techniques using a language familiar to them. To that end, we present RoboChart, a domain-specific modelling language based on UML, but with a restricted set of constructs to enable a simplified semantics and automated reasoning. We present the RoboChart metamodel, its well-formedness rules, and its process-algebraic semantics. We discuss verification based on these foundations using an implementation of RoboChart and its semantics as a set of Eclipse plug-ins called RoboTool. Keywords State machines • Formal semantics • Process algebra • CSP • Model checking • Timed properties • Domain-specific language for robotics Communicated by Dr. Jeff Gray.

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Section: Languagementioning

confidence: 99%

Section: Notationmentioning

confidence: 99%

Section: Notationmentioning

confidence: 99%

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RoboChart: modelling and verification of the functional behaviour of robotic applications

et al. 2019

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“…(SS) [52,66], (2) different robots for different tasks (DD) [35,40], or (3) the same robots for different tasks (SD) [54,59,73].…”

Section: Robot and Task Differentiationmentioning

confidence: 99%

Swarm Foraging Review: Closing the Gap Between Proof and Practice

et al. 2020

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Purpose of Review We review recent research on swarm robot foraging and contextualize it with foundational work. Recent work can be divided into two complementary camps: self-organizing algorithms that provide practical gains and analytical research focus on theoretical proofs. Recent Findings Encouragingly, the convergence between theory and practice is evident in analytical work on the scaling of transportation networks and in behavioral grammars that give formal insight into emergent properties of foraging. Augmented reality has enabled virtual pheromones to be used with hardware, blurring the line between physical and simulation experiments. Summary In this review we highlight bio-inspired and self-organizing approaches to swarm foraging and contrast them with approaches that can provide theoretical proofs, but which abstract away important features from foraging in real-world environments.

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“…This engineered adaptation was driven by the same function for demand as featured in the virtual hormone system. This style of online engineered adaptation has been used in the past to modify swarm traits, finding optimal partition lengths in [20] modifying travel distances based on success and failure of swarm individuals.…”

Section: Comparison Systemsmentioning

confidence: 99%

An Amalgamation of Hormone Inspired Arbitration Systems for Application in Robot Swarms

2019

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Previous work has shown that virtual hormone systems can be engineered to arbitrateswarms of robots between sets of behaviours. These virtual hormones act similarly to theirnatural counterparts, providing a method of online, reactive adaptation. It is yet to be shownhow virtual hormone systems could be used when a robotic swarm has a large variety of task typesto execute. This paper details work that demonstrates the viability of a collection of virtual hormonesthat can be used to regulate and adapt a swarm over time, in response to different environmentsand tasks. Specifically, the paper examines a new method of hormone speed control for energyefficiency and combines it with two existing systems controlling environmental preference as wellas a selection of behaviours that produce an effective foraging swarm. Experiments confirm theeffectiveness of the combined system, showing that a swarm of robots equipped with multiple virtualhormones can forage efficiently to a specified item demand within an allotted period of time.

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Dynamic Task Partitioning for Foraging Robot Swarms

Cited by 12 publications

References 19 publications

RoboChart: modelling and verification of the functional behaviour of robotic applications

RoboChart: modelling and verification of the functional behaviour of robotic applications

Swarm Foraging Review: Closing the Gap Between Proof and Practice

An Amalgamation of Hormone Inspired Arbitration Systems for Application in Robot Swarms

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