Abstract
In this paper we present an extension of the ShapeBugs distributed formation algorithm which enables 2D mobile agents to agree on a consensus coordinate system starting from no coordinate agreement. The participating agents require only local communication and local distance and motion information. Because this distance and motion information can in many cases be obtained implicitly through software motor approximation and attenuation or time-of-flight in communication, this approach has the potential to globally coordinate general mobile communicating agents without additional sensor requirements. The extended algorithm also remains robust against agent incapacitation and disorientation.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Prencipe, G., Santoro, N.: Distributed algorithms for autonomous mobile robots. In: Proc. of 5th IFIP Intl. Conf. on Theoretical Computer Science (2006)
Suzuki, I., Yamashita, M.: Distributed anonymous mobile robots: Formation of geometric patterns. SIAM Journal on Computing 28(4), 1347–1363 (1999), citeseer.ist.psu.edu/suzuki99distributed.html
Cheng, J., Cheng, W., Nagpal, R.: Robust and self-repairing formation control for swarms of mobile agents. In: Proc. of the 20th Natl. Conf. on Artificial Intelligence, pp. 59–64. AAAI Press, Menlo Park (2005), http://jmvidal.cse.sc.edu/library/cheng05a.pdf
Dudek, G., Jenkin, M., Milios, E., Wilkes, D.: A taxonomy for multi-agent robotics. Autonomous Robots 3, 375–397 (1996), citeseer.ist.psu.edu/dudek96taxonomy.html
Şahin, E., Labella, T.H., Trianni, V., Deneubourg, J.-L., Rasse, P., Floreano, D., Gambardella, L., Mondada, F., Nolfi, S., Dorigo, M.: SWARM-BOTS: Pattern formation in a swarm of self-assembling mobile robots. In: Proc. of the IEEE Intl. Conf. on Systems, Man and Cybernetics, Hammamet, Tunisia, IEEE Computer Society Press, Los Alamitos (2002)
Cao, Y.U., Fukunaga, A.S., Kahng, A.B.: Cooperative mobile robotics: Antecedents and directions. Autonomous Robots 4(1), 7–23 (1997), citeseer.ist.psu.edu/cao97cooperative.html
Bahceci, E., Soysal, O., Sahin, E.: A review: Pattern formation and adaptation in multi-robot systems. Technical Report CMU-RI-TR-03-43, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA (2003)
Niculescu, D., Nath, B.: Position and orientation in ad hoc networks. Ad Hoc Networks 2, 133–151 (2004), citeseer.ist.psu.edu/niculescu03position.html
Nagpal, R,: Personal communication (2007)
Defago, X., Konagaya, A.: Circle formation for oblivious anonymous mobile robots with no common sense of orientation. In: Proc. of the 2nd ACM Intl. Workshop on Principles of Mobile Computing, Toulouse, France, pp. 97–104. ACM Press, New York (2002), doi:10.1145/584490.584509
Howard, A., Mataric, M., Sukhatme, G.: Putting the ’i’ in team: an ego-centric approach to cooperative localization. In: Proc. of the IEEE Intl. Conf. of Robotics and Automation, Taipei, Taiwan, May 2003, IEEE Computer Society Press, Los Alamitos (2003), citeseer.ist.psu.edu/howard03putting.html
Fujibayashi, K., Murata, S., Sugawara, K., Yamamura, M.: Self-organizing formation algorithm for active elements. In: Proc. of the 21st IEEE Symposium on Reliable Distributed Systems, Washington, DC, USA, p. 416. IEEE Computer Society Press, Los Alamitos (2002)
Yamaguchi, H., Arai, T., Beni, G.: A distributed control scheme for multiple robotic vehicles to make group formations. Robotics and Autonomous Systems 36, 125–147 (2001)
Ikemoto, Y., Hasegawa, Y., Fukuda, T., Matsuda, K.: Gradual spatial pattern formation of homogeneous robot group. Information Sciences - Informatics and Computer Science 171, 431–445 (2005)
Mihaylova, L., Angelova, D., Canagarajah, C.N., Bull, D.R.: Algorithms for mobile nodes self-localisation in wireless ad hoc networks. In: 9th Intl. Conf. on Information Fusion, Florence, Italy (2006), citeseer.ist.psu.edu/mihaylova06algorithms.html
Souissi, S., Defago, X., Yamashita, M.: Using eventually consistent compasses to gather oblivious mobile robots with limited visibility. In: Datta, A.K., Gradinariu, M. (eds.) SSS 2006. LNCS, vol. 4280, p. 471. Springer, Heidelberg (2006)
Trianni, V., Gross, R., Labella, T., Sahin, E., Rasse, P., Deneubourg, J., Dorigo, M.: Evolving aggregation behaviors in a swarm of robots. Technical Report TR/IRIDIA/2003-07, IRIDIA, Universite Libre de Bruxelles, Bruxelles, Belgium (2003)
Flocchini, P., Prencipe, G., Santoro, N., Widmayer, P.: Gathering of asynchronous robots with limited visibility. Theoretical Computer Science 337(1-3), 147–168 (2005), doi:10.1016/j.tcs.2005.01.001
Luke, S., Cioffi-Revilla, C., Panait, L., Sullivan, K.: Mason: A new multi-agent simulation toolkit. In: Proc. of the 2004 SwarmFest Workshop (2004), http://cs.gmu.edu/~eclab/projects/mason
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2007 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Studer, G., Harvey, I. (2007). A Distributed Formation Algorithm to Organize Agents with No Coordinate Agreement. In: Almeida e Costa, F., Rocha, L.M., Costa, E., Harvey, I., Coutinho, A. (eds) Advances in Artificial Life. ECAL 2007. Lecture Notes in Computer Science(), vol 4648. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74913-4_52
Download citation
DOI: https://doi.org/10.1007/978-3-540-74913-4_52
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-74912-7
Online ISBN: 978-3-540-74913-4
eBook Packages: Computer ScienceComputer Science (R0)