Multi-Robot Control Inspired by Bacterial Chemotaxis: Coverage and Rendezvous via Networking of Chemotaxis Controllers

Izumi, Shinsaku; Azuma, Shun‐ichi; Sugie, Toshiharu

doi:10.1109/access.2020.3006096

Cited by 12 publications

(2 citation statements)

References 43 publications

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“…However, they should be strongly discussed in the case of application for close-to-real tests. Nevertheless, chemotaxis-like models have discussed as one of the most promising mechanisms for the behavior control of a group of robots in the adapted form [ 35 , 36 ].…”

Section: Current Approaches In the Microbial Cell Based Microrobots D...mentioning

confidence: 99%

Microbial Cells as a Microrobots: From Drug Delivery to Advanced Biosensors

Готовцев

2023

Biomimetics

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The presented review focused on the microbial cell based system. This approach is based on the application of microorganisms as the main part of a robot that is responsible for the motility, cargo shipping, and in some cases, the production of useful chemicals. Living cells in such microrobots have both advantages and disadvantages. Regarding the advantages, it is necessary to mention the motility of cells, which can be natural chemotaxis or phototaxis, depending on the organism. There are approaches to make cells magnetotactic by adding nanoparticles to their surface. Today, the results of the development of such microrobots have been widely discussed. It has been shown that there is a possibility of combining different types of taxis to enhance the control level of the microrobots based on the microorganisms’ cells and the efficiency of the solving task. Another advantage is the possibility of applying the whole potential of synthetic biology to make the behavior of the cells more controllable and complex. Biosynthesis of the cargo, advanced sensing, on/off switches, and other promising approaches are discussed within the context of the application for the microrobots. Thus, a synthetic biology application offers significant perspectives on microbial cell based microrobot development. Disadvantages that follow from the nature of microbial cells such as the number of external factors influence the cells, potential immune reaction, etc. They provide several limitations in the application, but do not decrease the bright perspectives of microrobots based on the cells of the microorganisms.

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Section: Current Approaches In the Microbial Cell Based Microrobots D...mentioning

confidence: 99%

Microbial Cells as a Microrobots: From Drug Delivery to Advanced Biosensors

Готовцев

2023

Biomimetics

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“…The search strategies exhibited by animals can nonetheless be thought of as coverage algorithms since animals tend to cover the entire environment in a constant effort to search for their potential food source or prey. Several recent works which propose coverage algorithms inspired by animal behavior are given in [11][12][13][14]. Statistical analysis for search strategies observed in animals is given in [15], where the authors compare two variants of the random walk model, correlated random walks (CRWs) and Levy walks (LWs).…”

Section: Introductionmentioning

confidence: 99%

A bio-inspired localization-free stochastic coverage algorithm with verified reachability

et al. 2021

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Dependence on constant availability to an external localization service is often unreliable and infeasible in mobile robots. In this paper, we take inspiration from a continuous fish motion model, the persistent turning Walker (PTW), to devise a strategy which is able to achieve 2D and 3D coverage in an unknown environment in the absence of a localization service, such as a global positioning system (GPS). This is achieved by converting the continuous-time dynamical system into a discrete-time Markov chain which is then shown to exhibit strongly connected properties that are verifiable through numerical methods. The aforementioned proposed framework can also be used to study the continuous-time dynamics of other biological systems and evaluate their properties. The performance of the PTW model is also compared with two existing random search strategies, simple random walks (SRW) and correlated random walks (CRW) by using analytical bounds, simulation results, and statistical tests. The simulation results show that the proposed PTW algorithm covers a given search-space at a faster rate compared to the CRW and SRW models. Hence, the PTW may be effectively used as a coverage strategy by mobile robots in underwater or underground environments where the availability of a GPS cannot be guaranteed at all times.

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Performance Analysis of Chemotaxis-Inspired Stochastic Controllers for Multi-Agent Coverage

Izumi

2022

New Gener. Comput.

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In this study, we analyze the performance of stochastic coverage controllers inspired by the chemotaxis of bacteria. The control algorithm of bacteria to generate the chemotaxis switches between forward movement and random rotation based on the difference between the current and previous concentration of a chemical. The considered coverage controllers mimic this algorithm, where bacteria and the chemical concentration are regarded as agents and the achieved degree of coverage, respectively. Because the coverage controllers operate similar to the control algorithm of bacteria, they are potentially suitable for molecular robots. Molecular robots, which consist of biomolecules, are recognized as a key component in the development of future medical systems based on micro-robots working inside the human body. However, the performance of the controllers has not yet been analyzed, and no theoretical guarantee of coverage completion has been provided. We address this problem by determining whether a performance index that quantifies the achieved degree of coverage increases over time for the feedback system. We first show that the performance index is characterized by the distance between agents under certain conditions. Using this result, we prove that the performance index increases with probability 1 under some conditions although the controllers are stochastic. This provides partial evidence for coverage completion, which makes the controllers more reliable. The analysis result is validated by numerical experiments.

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Multi-Robot Control Inspired by Bacterial Chemotaxis: Coverage and Rendezvous via Networking of Chemotaxis Controllers

Cited by 12 publications

References 43 publications

Microbial Cells as a Microrobots: From Drug Delivery to Advanced Biosensors

Microbial Cells as a Microrobots: From Drug Delivery to Advanced Biosensors

A bio-inspired localization-free stochastic coverage algorithm with verified reachability

Performance Analysis of Chemotaxis-Inspired Stochastic Controllers for Multi-Agent Coverage

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