Rodrigo Calvo
ABSTRACT
Distributed coordination strategy based on modified version of the artificial ant system directs mobile robots to unexplored regions and regions that were not recently explored for accomplishing cooperative tasks as exploration and surveillance. Previously, application of the strategy confirmed that exploration and surveillance general behaviors emerge from the individual agent behavior. The strategy is able to adapt the current system dynamics if the number of robots or the environment structure or both change. In this paper, parametric variation of strategy is executed according to pheromone evaporation and releasing phenomena. Experiment results demonstrate that different configurations of phenomenon affect exploration and surveillance behaviors. Different compiled data sets are considered to assess the strategies, namely: needed time to conclude the task; and time between two consecutive sensory on a specific region. The results show that there is a set of configuration of the phenomena to become the strategy more efficient to execute the exploration and surveillance tasks.
- K. Naruse, "Velocity correlation in flocking with different motion model robots," in System Integration (SII), 2012 IEEE/SICE International Symposium on, pp. 434--439, 2012.Google Scholar
Cross Ref
- F. Mazzini, D. T. Kettler, J. Guerrero, and S. Dubowsky, "Tactile robotic mapping of unknown surfaces, with application to oil wells," IEEE Transactions on Instrumentation and Measurement, vol. 60, no. 2, pp. 420--429, 2011.Google ScholarCross Ref
- Y. Elmaliach, N. Agmon, and G. A. Kaminka, "Multi-robot area patrol under frequency constraints," Annals of Mathematics and Artificial Intelligence, vol. 57, pp. 293--320, Dec. 2009. Google ScholarDigital Library
- D. Portugal and R. Rocha, "A survey on multi-robot patrolling algorithms," in Technological Innovation for Sustainability (L. Camarinha-Matos, ed.), vol. 349 of IFIP Advances in Information and Communication Technology, pp. 139--146, Springer Boston, 2011. 10.1007/978-3-642-19170-1_15.Google Scholar
- F. Pasqualetti, A. Franchi, and F. Bullo, "On cooperative patrolling: Optimal trajectories, complexity analysis, and approximation algorithms," Robotics, IEEE Transactions on, vol. 28, no. 3, pp. 592--606, 2012.Google Scholar
- Y. Chevaleyre, "Theoretical analysis of the multi-agent patrolling problem," in Intelligent Agent Technology, 2004. (IAT 2004). Proceedings. IEEE/WIC/ACM International Conference on, pp. 302--308, 2004. Google ScholarDigital Library
- F. WeiXing, W. KeJun, Y. XiuFen, and G. ShuXiang, "Novel algorithms for coordination of underwater swarm robotics," in Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on, pp. 654--659, 2006.Google Scholar
- E. Ferrante, A. E. Turgut, C. Huepe, A. Stranieri, C. Pinciroli, and M. Dorigo, "Self-organized flocking with a mobile robot swarm: a novel motion control method," Adaptive Behavior, 2012. Google ScholarDigital Library
- M. Dorigo, Optimization, Learning and Natural Algorithms. PhD thesis, Politecnico di Milano, Italy, 1992.Google Scholar
- R. Calvo, J. de Oliveira, M. Figueiredo, and R. Romero, "A bioinspired coordination strategy for controlling of multiple robots in surveillance tasks," in International Journal on Advances in Software, vol. 5, pp. 146--165, 2012.Google Scholar
Index Terms
- Parametric investigation of a distributed strategy for multiple agents systems applied to cooperative tasks
Recommendations
Decentralized Control of Autonomous Swarm Systems Using Artificial Potential Functions: Analytical Design Guidelines
This paper presents a framework for decentralized control of self-organizing swarm systems based on the artificial potential functions (APFs). In this scheme, multiple agents in a swarm self-organize to flock and achieve formation control through ...
Swarm robotics in wireless distributed protocol design for coordinating robots involved in cooperative tasks
The mine detection in an unexplored area is an optimization problem where multiple mines, randomly distributed throughout an area, need to be discovered and disarmed in a minimum amount of time. We propose a strategy to explore an unknown area, using a ...
Meta-strategy for cooperative tasks with learning of environments in multi-agent continuous tasks
SAC '15: Proceedings of the 30th Annual ACM Symposium on Applied ComputingWith the development of robot technology, we can expect self-propelled robots working in large areas where cooperative and coordinated behaviors by multiple (hardware and software) robots are necessary. However, it is not trivial for agents, which are ...
Comments