Stigmergic algorithms for multiple minimalistic robots on an RFID floor

Khaliq, Ali Abdul; Rocco, Maurizio Di; Saffiotti, Alessandro

doi:10.1007/s11721-014-0096-0

Cited by 22 publications

(16 citation statements)

References 40 publications

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“…Smart environments may be difficult to install and use for real applications; rather, such setups are often employed for targeted research experiments. This category can be further divided into three classes: the usage of (i) radio-frequency identification (RFID) tags Zambonelli 2005, 2007;Herianto et al 2007;Herianto and Kurabayashi 2009;Bosien et al 2012;Khaliq et al 2014); (ii) simulated pheromone environments, using projected light or other custom hardware for virtual pheromone implementations (Sugawara et al 2004;Garnier et al 2007Garnier et al , 2013Arvin et al 2015;Valentini et al 2018) , and (iii) augmented reality tools in which a virtual environment is sensed and acted on by robots using virtual sensors and actuators (Reina et al 2015b(Reina et al , 2017.…”

Section: Stigmergy-based Foraging In Swarm Roboticsmentioning

confidence: 99%

Sophisticated collective foraging with minimalist agents: a swarm robotics test

et al. 2019

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How groups of cooperative foragers can achieve efficient and robust collective foraging is of interest both to biologists studying social insects and engineers designing swarm robotics systems. Of particular interest are distance-quality trade-offs and swarm-size-dependent foraging strategies. Here, we present a collective foraging system based on virtual pheromones, tested in simulation and in swarms of up to 200 physical robots. Our individual agent controllers are highly simplified, as they are based on binary pheromone sensors. Despite being simple, our individual controllers are able to reproduce classical foraging experiments conducted with more capable real ants that sense pheromone concentration and follow its gradient. One key feature of our controllers is a control parameter which balances the trade-off between distance selectivity and quality selectivity of individual foragers. We construct an optimal foraging theory model that accounts for distance and quality of resources, as well as overcrowding, and predicts a swarm-size-dependent strategy. We test swarms implementing our controllers against our optimality model and find that, for moderate swarm sizes, they can be parameterised to approximate the optimal foraging strategy. This study demonstrates the sufficiency of simple individual agent rules to generate sophisticated collective foraging behaviour.

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Section: Stigmergy-based Foraging In Swarm Roboticsmentioning

confidence: 99%

Sophisticated collective foraging with minimalist agents: a swarm robotics test

et al. 2019

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“…Several studies, similarly to ours, implemented pheromone communication through a smart environment which was capable to store virtual pheromone information and to provide this information in real-time to the robots [54,18,21,17,1,58]. Within this category, several studies implemented virtual pheromone through the use of RFID tags which were deployed in the environment and stored pheromone information [32,33,24,23,3,29]. Our study relies on a different form of smart environment: Kilobots perceive and deposit virtual pheromone via ARK which has similarities with implementations of [54,18,17,1].…”

Section: Related Workmentioning

confidence: 99%

Quality-Sensitive Foraging by a Robot Swarm Through Virtual Pheromone Trails

Llenas

Talamali

et al. 2018

Lecture Notes in Computer Science

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Large swarms of simple autonomous robots can be employed to find objects clustered at random locations, and transport them to a central depot. This solution offers system parallelisation through concurrent environment exploration and object collection by several robots, but it also introduces the challenge of robot coordination. Inspired by ants' foraging behaviour, we successfully tackle robot swarm coordination through indirect stigmergic communication in the form of virtual pheromone trails. We design and implement a robot swarm composed of up to 100 Kilobots using the recent technology Augmented Reality for Kilobots (ARK). Using pheromone trails, our memoryless robots rediscover object sources that have been located previously. The emerging collective dynamics show a throughput inversely proportional to the source distance. We assume environments with multiple sources, each providing objects of different qualities, and we investigate how the robot swarm balances the quality-distance trade-off by using quality-sensitive pheromone trails. To our knowledge this work represents the largest robotic experiment in stigmergic foraging, and is the first complete demonstration of ARK, showcasing the set of unique functionalities it provides.

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“…the BionicMotionRobot (Festo, 2017), which mimics the movements of life; the high-speed railway in Japan, which reduces noise caused by aerodynamics inside tunnels by drawing inspiration from the silence of the kingfisher's beak and owl's feathers (Khaliq et al, 2014;Kennedy and Marting, 2016;Hayes et al, 2019); and Zimbabwe's Eastgate Center, which reduces energy requirements by employing a ventilation system that imitates the structure of a termite nest (Ramzy, 2015). Thus, biomimicry-which mimics nature's biological systems or structures-is becoming a solution in multiple fields, from everyday life to industry.…”

Section: Biomorphic Designmentioning

confidence: 99%

Biomorphic Clothing Sculpture Interface as an Emotional Communication Space

et al. 2020

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This study found that clothing, combined with digital technology, can be a wearable computer that adapts to environmental change and increases biological limits, as well as an emotional space to which art and design are applied, and that promotes mutual communication. A user-friendly interface is proposed for those pursuing a new artistic experience by building a conceptual algorithm for biomorphic clothing sculpture modeling that can be used to create generative designs simply by entering moderated mediator variables. Biomorphic clothing sculpture refers to clothing that is inspired by life in nature and modeled in three dimensions. As the human body and buildings are 3D forms, the parametric design method used frequently in architecture is implemented here and used as a tool to explore attributes and representations of 3D modeling in clothing sculpture design. On the basis of a literature review, this study presents knowledge-based data for biomorphic clothing sculpture that can predict generative design outcomes, and through a case study, identifies the mediator variables and attributes of the parametric process related to biomorphic clothing sculpture modeling. The knowledge-based data on biomorphic clothing sculpture and biomorphic clothing sculpture modeling mediator variables discovered during the research are applied to the 3D modeling process as visual data and presented as the conceptual interface of biomorphic clothing sculpture.

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Stigmergic algorithms for multiple minimalistic robots on an RFID floor

Cited by 22 publications

References 40 publications

Sophisticated collective foraging with minimalist agents: a swarm robotics test

Sophisticated collective foraging with minimalist agents: a swarm robotics test

Quality-Sensitive Foraging by a Robot Swarm Through Virtual Pheromone Trails

Biomorphic Clothing Sculpture Interface as an Emotional Communication Space

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