Abstract
This paper presents a stigmergetic search method for swarm robots, in which an indirect information interaction mechanism, namely stigmergy, is used for the coordination of swarm robots via the environment. RFID tags are arranged in the environment as a carrier of the pheromone. Robots move in the environment while reading and writing pheromone that contain the search experience of robots. The reading and writing algorithms are established. The pheromone map can be used to guide robots’ motion without any localization system, and it can be built by robots according to their search experience. The method is verified by ample numerical experiments. Results show the applicability of the stigmergy mechanism for swarm robots target search.
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Acknowledgements
This work is supported by the projects of National Science Foundation of China (No. 61603277; No. 51579053), the State Key Laboratory of Robotics and Systems (HIT) (No. SKLRS-2015-ZD-03), and the SAST Project (No. 2016017). Meanwhile, this work is also partially supported by the Fundamental Research Funds for the Central Universities (No. 2014KJ032; No. 20153683), and the Youth 1000 program project (No. 1000231901). It is also partially sponsored by Shanghai Pujiang Program project (No. 15PJ1408400), the Key Basic Research Project of Shanghai Science and Technology Innovation Plan (No. 15JC1403300), as well as the project of Nuclear Power Engineering Co., Ltd. (No. 20161686). This work is also partially supported by the Cluster of Excellence SimTech at the University of Stuttgart, Germany. All these supports are highly appreciated.
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Tang, Q., Yu, F., Zhang, Y., Ding, L., Eberhard, P. (2017). A Stigmergy Based Search Method for Swarm Robots. In: Tan, Y., Takagi, H., Shi, Y., Niu, B. (eds) Advances in Swarm Intelligence. ICSI 2017. Lecture Notes in Computer Science(), vol 10386. Springer, Cham. https://doi.org/10.1007/978-3-319-61833-3_21
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DOI: https://doi.org/10.1007/978-3-319-61833-3_21
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