Spatially targeted communication and self-assembly

Mathews, Nithin; Christensen, Anders Lyhne; O’Grady, Rehan; Dorigo, Marco

doi:10.1109/iros.2012.6386285

Cited by 14 publications

(9 citation statements)

References 5 publications

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“…The authors proposed a solution based on artificial evolution and recurrent neural networks which can make time-dependent decisions. Mathews et al (2012) used a heterogeneous approach: a flying robot is used to recognize the task to tackle and guide ground-based robots. The flying robot communicates to the ground-based robots which robots should self-assemble and what kind of structure to create to tackle the task.…”

Section: Self-assembly and Morphogenesismentioning

confidence: 99%

Swarm robotics: a review from the swarm engineering perspective

et al. 2013

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Swarm robotics is an approach to collective robotics that takes inspiration from the self-organized behaviors of social animals. Through simple rules and local interactions, swarm robotics aims at designing robust, scalable, and flexible collective behaviors for the coordination of large numbers of robots. In this paper, we analyze the literature from the point of view of swarm engineering: we focus mainly on ideas and concepts that contribute to the advancement of swarm robotics as an engineering field and that could be relevant to tackle real-world applications. Swarm engineering is an emerging discipline that aims at defining systematic and well founded procedures for modeling, designing, realizing, verifying, validating, operating, and maintaining a swarm robotics system. We propose two taxonomies: in the first taxonomy, we classify works that deal with design and analysis methods; in the second taxonomy, we classify works according to the collective behavior studied. We conclude with a discussion of the current limits of swarm robotics as an engineering discipline and with suggestions for future research directions.

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Section: Self-assembly and Morphogenesismentioning

confidence: 99%

Swarm robotics: a review from the swarm engineering perspective

et al. 2013

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“…In this study, we extended the technology behind SWARMORPH-script to take advantage of the higher communication bandwidth and speed provided by the mxRAB device available to the foot-bots. These enhancements allow foot-bots to demonstrate behaviors that were unachievable to their predecessors such as forming multiple connections in parallel [20] and coordinating the motion in target morphologies [20,47,48].…”

Section: Send Self-assembly Instructionsmentioning

confidence: 99%

“…Video footage of this experiment can be found online [49]. Further examples of cooperation between an AR.Drone and foot-bots were presented in [48].…”

Section: Case Study 1: Supervision Based On a 2d Environment Modelmentioning

confidence: 99%

Supervised morphogenesis: Exploiting morphological flexibility of self-assembling multirobot systems through cooperation with aerial robots

Mathews

Christensen

Stranieri

et al. 2019

Robotics and Autonomous Systems

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Self-assembling robots have the potential to undergo autonomous morphological adaptation. However, due to the simplicity in their hardware makeup and their limited perspective of the environment, self-assembling robots are often not able to reach their potential and adapt their morphologies to tasks or environments without external cues or prior information. In this paper, we present supervised morphogenesis-a control methodology that makes self-assembling robots truly flexible by enabling aerial robots to exploit their elevated position and better view of the environment to initiate and control (hence supervise) morphology formation on the ground. We present results of two case studies in which we assess the feasibility of the presented methodology using real robotic hardware. In the case studies, we implemented supervised morphogenesis using two different aerial platforms and up to six self-assembling autonomous robots. We furthermore quantify the benefits attainable for self-assembling robots through cooperation with aerial robots using simulation-based studies. The research presented in this paper is a significant step towards realizing the true potential of self-assembling robots by enabling autonomous morphological adaptation to a priori unknown tasks and environments.

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“…To further validate this collaborative communication and coordination paradigm among robots, the cooperation between aerial and terrestrial robotic systems has been envisioned in several research papers as a way to accomplish particular missions throughout the complementarity of such heteroge neous devices (i. e. , UAVs and Rovers) exhibiting decisional autonomy [6], [7]. In particular the challenging issues related to the ability of properly register and fuse data obtained by both aerial and terrestrial devices have been highlighted in [6] whilst the authors in [8] presented a plan database component to manage and execute multi-robot plans.…”

Section: Related Workmentioning

confidence: 99%

An application-level framework for UAV/rover communication and coordination

Pace

Aloi

Fortino

2015

2015 IEEE 19th International Conference on Computer Supported Cooperative Work in Design (CSCWD)

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The paper proposes AirGround, a flexible and expandable framework to support the collaboration and the coordination between aerial and terrestrial drones in order to accomplish a common mission in a more effective and fast way.In particular the designed application-level framework allows the dynamic tasks assignment to the different devices involved into the communication process and the distributed leader election according to specific executive parameters and system conditions (i.e., residual energy, computational power, abilities offered by specific on board sensors). The AirGround effectiveness has been evaluated throughout a real testbed to measure the overall system performance in terms of both neighbour discovery and leader election speed by increasing the number of drones in different channel and environmental conditions.

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Spatially targeted communication and self-assembly

Cited by 14 publications

References 5 publications

Swarm robotics: a review from the swarm engineering perspective

Swarm robotics: a review from the swarm engineering perspective

Supervised morphogenesis: Exploiting morphological flexibility of self-assembling multirobot systems through cooperation with aerial robots

An application-level framework for UAV/rover communication and coordination

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