Abstract
In this work a unified approach for modeling of micro-robot swarms and for development of the controlling software architecture for individual robots is presented. The approach leads to swarm models with self-organized behavior and reflects the complexity of the considered swarm scenarios. The application of the presented approach is demonstrated by example scenarios with several complexity levels. Additionally, some techniques for the investigation of the phenomena of self-organization are discussed. These techniques allow for instance the determination of areas in the parameter space, i.e. the parameter settings leading to a specific aimed behavior. Through our simulation experiments we demonstrated, that the hardware requirements for applications using real micro-robots can be determined.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
G. Nicolis and I. Prigogine. Self-Organization in Non-Equilibrium Systems. Wiley, New York, 1977.
H. Haken. Advanced Synergetics. Springer-Verlag, 1983.
J. Starke, M. Schanz, and H. Haken. Self-organized behaviour of distributed autonomous mobile robotic systems by pattern formation principles. In T. Lueth, R. Dillmann, P. Dario, and H. Worn, editors, Distributed Autonomous Robotic Systems 3, pages 89–100. Springer Verlag, Heidelberg, Berlin, New York, 1998.
M. Becht, T. Buchheim, P. Burger, G. Hetzel, G. Kindermann, R. Lafrenz, N. Oswald, M. Schanz, M. Schulé, P. Molnár, J. Starke, and P. Levi. Three-index assignment of robots to targets: An experimental verification. In IAS-6, 2000.
M. Schulé, M. Schanz, H. Felger, R. Lafrenz, J. Starke, and P. Levi. Control of autonomous robots in the robocup scenario using coupled selection equations. In P. Levi and M. Schanz, editors, Autonome Mobile Systeme, pages 57–63. Springer, 2001.
J. Starke. Dynamical assignments of distributed autonomous robotic systems to manufacturing targets considering environmental feedbacks. In Proceedings of the 17th IEEE International Symposium on Intelligent Control (ISIC’02), pages 678–683, Vancouver, 2002.
C.W. Reynolds. Steering behaviors for autonomous characters. Game Developers Conference 1999, San Francisco, 1999.
C.W. Reynolds. Interaction with groups of autonomous characters. Proceedings of Game Developers Conference 2000, 2000.
C. Saloma, G.J. Perez, G. Tapang, M. Lim, and C. Palmes-Saloma. Self-organized queuing and scale-free behavior in real escape panic. Proceedings of National Academy of Science, 100, 2003.
H. Yamaguchi and T. Arai. Distributed and autonomous control method for generating shape of multiple mobile robot group. In Proc. of the IEEE International Conference on Intelligent Robots and Systems, pages 800–807, 1994.
H. Yamaguchi and J.W. Burdick. Asymptotic stabilization of multiple nonholonomic mobile robots forming group formations. In Proc. of the 1998 IEEE International Conference on Robotics and Automation, pages 3573–3580, 1998.
S. Nouyan and M. Dorigo. Chain formation in a swarm of robots. Technical Report TR/IRIDIA/2004-18, IRIDIA, Université Libre de Bruxelles, March 2004.
V. Trianni, S. Nolfi, and M. Dorigo. Cooperative hole avoidance in a swarm-bot. Robotics and Autonomous Systems, 2005. to appear.
R. Volpe, I.A.D. Nesnas, T. Estlin, D. Mutz, R. Petras, and H. Das. “CLARAty: Coupled layer architecture for robotic autonomy”. Technical Report D-19975, JPL Technical Report, 2000.
I.A. Nesnas, A. Wright, M. Bajracharya, R. Simmons, T. Estlin, and Won Soo Kim. “CLARAty: An architecture for reusable robotic software”. In Proc. of SPIE Aerosense Conference, Orlando, Florida, 2003.
R. Alur, T. Dang, J. Esposito, R. Fierro, Y. Hur, F. Ivanid, V. Kumar, I. Lee, P. Mishra, G. Pappas, and O. Sokolsky. Hierarchical hybrid modeling of embedded systems. In Embedded Software, First Intern. Workshop, LNCS 2211. Springer, 2001.
Th. Henzinger, M. Minea, and V. Prabhu. Assume-guarantee reasoning for hierarchical hybrid systems. In Proc. of the Fourth International Workshop on Hybrid Systems: Computation and Control (HSCC), LNCS 2034. Springer, 2001.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Avrutin, V., Koch, A., Lafrenz, R., Levi, P., Schanz, M. (2006). A Unified Architecture for the Control Software of a Robot Swarm: Design and Investigation Results. In: Levi, P., Schanz, M., Lafrenz, R., Avrutin, V. (eds) Autonome Mobile Systeme 2005. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-30292-1_6
Download citation
DOI: https://doi.org/10.1007/3-540-30292-1_6
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-30291-9
Online ISBN: 978-3-540-30292-6
eBook Packages: Computer Science and Engineering (German Language)