The SWARM-BOTS Project

Dorigo, Marco; Tuci, Elio; Groß, Roderich; Trianni, Vito; Labella, Thomas Halva; Nouyan, Shervin; Ampatzis, Christos; Deneubourg, Jean‐Louis; Baldassarre, Gianluca; Nolfi, Stefano; Mondada, Francesco; Floreano, Dario; Gambardella, Luca Maria

doi:10.1007/978-3-540-30552-1_4

Cited by 72 publications

(49 citation statements)

References 17 publications

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“…Another example is swarm robots i.e., the coordination of multi-robot systems which consist of large numbers of mostly simple physical robots (e.g. [3]). A swarm in which each member possesses 5 degrees of freedom can easily give rise to an entity with over a hundred DOF.…”

Section: Hyper-redundant Robotsmentioning

confidence: 99%

C-Space Compression for Robots Motion Planning

Medina

Taitz

Moshe

et al. 2013

International Journal of Advanced Robotic Systems

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Exact motion planning for hyper-redundant robots under complex constraints is computationally intractable. This paper does not deal with the optimization of motion planning algorithms, but rather with the simplification of the configuration space presented to the algorithms. We aim to reduce the configuration space so that the robot's embedded motion planning system will be able to store and access an otherwise immense data file. We use a n-DCT compression algorithm together with a Genetic based compression algorithm, in order to reduce the complexity of motion planning computations and reduce the need for memory. We exemplify our algorithm on a hyperredundant worm-like climbing robot with six degrees of freedom (DOF).

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Section: Hyper-redundant Robotsmentioning

confidence: 99%

C-Space Compression for Robots Motion Planning

Medina

Taitz

Moshe

et al. 2013

International Journal of Advanced Robotic Systems

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“…Cooperative transport is inspired by biological prey retrieval models, which present many examples of the value of specialization, such as the pushing versus pulling behaviors exhibited in stigmatic coordination that allows several ants to transport a large prey (Kube & Bonabeau, 1999). Such inspiration was used by the research of (Dorigo et al, 2004), which described the evolution of coordinated motion, and self-assembly in a simulated multi-robot system for the purpose of cooperatively transporting objects. Similarly, the research of described the evolution of particular group formations in a simulated multi-robot system, which allowed efficient forms of coordinated group movement across an environment towards a light or sound 38 source.…”

Section: Moving In Formation and Cooperative Transportation Tasksmentioning

confidence: 99%

Emergent Specialization in Biologically Inspired Collective Behavior Systems

Nitschke

Schut

Eiben

2008

Intelligent Complex Adaptive Systems

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Specialization is observable in many complex adaptive systems and is thought by many to be a fundamental mechanism for achieving optimal efficiency within organizations operating within complex adaptive systems. This chapter presents a survey and critique of collective behavior systems designed using biologically inspired principles, where specialization that emerges as a result of system dynamics and is used problem solver or means to increase task performance. The chapter presents an argument for developing design methodologies and principles that facilitate emergent specialization in collective behavior systems. Open problems of current research and future research directions are highlighted for the purpose of encouraging the development of such emergent specialization design methodologies. 2 Emergent Specialization in Biologically Inspired Collective Behavior Systems AbstractSpecialization is observable in many complex adaptive systems and is thought by many to be a fundamental mechanism for achieving optimal efficiency within organizations operating within complex adaptive systems. This chapter presents a survey and critique of collective behavior systems designed using biologically inspired principles, where specialization that emerges as a result of system dynamics and is used problem solver or means to increase task performance. The chapter presents an argument for developing design methodologies and principles that facilitate emergent specialization in collective behavior systems. Open problems of current research and future research directions are highlighted for the purpose of encouraging the development of such emergent specialization design methodologies.

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“…We use the s-bot (Figure 1(a)), a robot of 12 cm of diameter, designed and built within the context of the SWARM-BOTS project [10,11]. An s-bot moves using a combination of two wheels and two tracks, which we call "treels".…”

Section: Hardware the Robotsmentioning

confidence: 99%

Negotiation of Goal Direction for Cooperative Transport

Campo

Nouyan

Birattari

et al. 2006

Lecture Notes in Computer Science

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Abstract. In this paper, we study the cooperative transport of a heavy object by a group of robots towards a goal. We investigate the case in which robots have partial and noisy knowledge of the goal direction and can not perceive the goal itself. The robots have to coordinate their motion to apply enough force on the object to move it. Furthermore, the robots should share knowledge in order to collectively improve their estimate of the goal direction and transport the object as fast and as accurately as possible towards the goal.We propose a bio-inspired mechanism of negotiation of direction that is fully distributed. Four different strategies are implemented and their performances are compared on a group of four real robots, varying the goal direction and the level of noise. We identify a strategy that enables efficient coordination of motion of the robots. Moreover, this strategy lets the robots improve their knowledge of the goal direction. Despite significant noise in the robots' communication, we achieve effective cooperative transport towards the goal and observe that the negotiation of direction entails interesting properties of robustness.

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The SWARM-BOTS Project

Cited by 72 publications

References 17 publications

C-Space Compression for Robots Motion Planning

C-Space Compression for Robots Motion Planning

Emergent Specialization in Biologically Inspired Collective Behavior Systems

Negotiation of Goal Direction for Cooperative Transport

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