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Cooperative swarm control for multiple mobile robots using only information from PSD sensors

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Abstract

Recently, many studies on swarm robotics have been conducted in which the aim seems to be the realization of an ability to perform complex tasks by cooperating with each other. Future progress and concrete applications are expected. The objective of this study was to construct a cooperative swarm system by using multiple mobile robots. First, multiple mobile robots with six position-sensitive detector (PSD) sensors were designed. A PSD sensor is a type of photo sensor. A control system was considered to realize swarm behavior, such as that shown by Ligia exotica, by using only information from the PSD sensors. Experimental results showed interesting behavior among the multiple mobile robots, such as following, avoidance, and schooling. The controller of the schooling mode was designed based on subsumption architecture. The proposed system was demonstrated to high school students at OPEN CAMPUS 2010, held in Tokyo University of Science, Yamaguchi.

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References

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Faculty of Engineering, Tokyo University of Science, Yamaguchi, 1-1-1 Daigaku-dori, Sanyo-onoda, 756-0884, Japan

    Fusaomi Nagata & Takahiro Yamashiro

  2. Department of Intelligent Mechanical Systems, Graduate School of Natural Science and Technology, Okayama University, Okayama, Japan

    Keigo Watanabe

Authors
  1. Fusaomi Nagata
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  2. Takahiro Yamashiro
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  3. Keigo Watanabe
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Corresponding author

Correspondence to Fusaomi Nagata.

Additional information

This work was presented in part at the 16th International Symposium on Artificial Life and Robotics, Oita, Japan, January 27–29, 2011

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Nagata, F., Yamashiro, T. & Watanabe, K. Cooperative swarm control for multiple mobile robots using only information from PSD sensors. Artif Life Robotics 16, 116–120 (2011). https://doi.org/10.1007/s10015-011-0901-4

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  • DOI: https://doi.org/10.1007/s10015-011-0901-4

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