Performance benefits of self-assembly in a swarm-bot

O’Grady, Rehan; Groß, Roderich; Christensen, Anders Lyhne; Mondada, Francesco; Bonani, Michaël; Dorigo, Marco

doi:10.1109/iros.2007.4399424

Cited by 16 publications

(11 citation statements)

References 19 publications

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“…This model was then demonstrated by Kube and Bonabeau with experiments involving a group of real robots [11]. Additional experiments have shown that transport performance grows in a super linear way with the number of robots, which is similar to what is observed with ants [12,13].…”

Section: Introductionsupporting

confidence: 56%

Enhancing the Cooperative Transport of Multiple Objects

Decugnière

Poulain

Campo

et al.

Ant Colony Optimization and Swarm Intelligence

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Abstract. In this paper we present an approach to the cooperative transport of multiple objects in swarm robotics. The approach is motivated by the observation that the performance of cooperative transport in insect colonies as well as in groups of robots grows in a super linear way with the number of individuals participating in the transport. The transport relies on a cart in which multiple objects are collected and stored before being moved to destination. The cart is carried by a group of robot that would be otherwise allocated to the transport of single objects. The cart is endowed with computational and communication abilities that allow it to cooperate with the transporting robots. This research is carried out within the framework of the Swarmanoid project and aims at enhancing the transport capabilities of the robot swarms developed in this project.

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Section: Introductionsupporting

confidence: 56%

Enhancing the Cooperative Transport of Multiple Objects

Decugnière

Poulain

Campo

et al.

Ant Colony Optimization and Swarm Intelligence

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“…How to design a swarm system that can meet the requirements of 3-D manipulation tasks is an open problem, in particular, if the requirements are not known in advance. Such systems might benefit from a tight coupling between behaviour and morphology (Pfeifer and Bongard, 2006;O'Grady et al, 2007).…”

Section: Discussionmentioning

confidence: 99%

Towards group transport by swarms of robots

Groß¹,

Dorigo²

2009

IJBIC

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122

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Abstract:We examine the ability of a swarm robotic system to transport cooperatively objects of different shapes and sizes. We simulate a group of autonomous mobile robots that can physically connect to each other and to the transported object. Controllers -artificial neural networks -are synthesised by an evolutionary algorithm. They are trained to let the robots self-assemble, that is, organise into collective physical structures and transport the object towards a target location. We quantify the performance and the behaviour of the group. We show that the group can cope fairly well with objects of different geometries as well as with sudden changes in the target location. Moreover, we show that larger groups, which are made of up to 16 robots, make possible the transport of heavier objects. Finally, we discuss the limitations of the system in terms of task complexity, scalability and fault tolerance and point out potential directions for future research.

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“…During the last 50 years, a variety of self-assembling systems were developed and used to design and analyze processes exhibiting a range of elementary functions. Ongoing work continues the study of such processes and functions, in particular, those of formation [6], [20], [39], [63], [71], growth [49], [85], [86], self-reconfiguration [76], [77], [121], self-repair [117], and template replication [131].…”

Section: Achievements and Future Directionsmentioning

confidence: 99%

Self-Assembly at the Macroscopic Scale

2008

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An impressive variety of systems have been designed with capabilities such as forming, growing, reconfiguring, repairing and replicating themselves, based on information coded in their components.By Roderich GroQ, Member IEEE, and Marco Dorigo, Fellow IEEE ABSTRACT | In this paper, we review half a century of research on the design of systems displaying (physical) self-assembly of macroscopic components. We report on the experience gained in the design of 21 such systems, exhibiting components ranging from passive mechanical parts to mobile robots. We present a taxonomy of the systems and discuss design principles and functions. Finally, we summarize the main achievements and indicate potential directions for future research.

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Performance benefits of self-assembly in a swarm-bot

Cited by 16 publications

References 19 publications

Enhancing the Cooperative Transport of Multiple Objects

Enhancing the Cooperative Transport of Multiple Objects

Towards group transport by swarms of robots

Self-Assembly at the Macroscopic Scale

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