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Anticipatory stigmergic collision avoidance under noise

Published: 12 July 2014 Publication History

Abstract

Reactive path planning to avoid collisions with moving obstacles enables more robust agent systems. However, many solutions assume that moving objects are passive; that is, they do not consider that the moving objects are themselves re-planning to avoid collisions, and thus may change their trajectory. In this paper we present a model, Anticipatory Stigmergic Collision Avoidance (ASCA) for reciprocal collision avoidance using anticipatory stigmergy. Unlike standard stigmergy, in which agents leave pheromones to indicate a trace of previous actions, anticipatory stigmergy deposits pheromones on intended future paths. By sharing their intended future paths with each other at regular intervals, agents can re-plan to attempt to avoid collisions. We experimentally evaluate ASCA over three scenarios, and compare with a state of art approach, Reciprocal Velocity Obstacles (RVO). Our evaluation showed that ASCA is consistently more robust in noisy environments in which transmitted information can be lost or degraded. Further, using ASCA without noise results in fewer collisions than RVO when agents are in formation, but more collisions when formed randomly.

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  • (2022)Stigmergy-Based Collision-Avoidance Algorithm for Self-Organising SwarmsComputational Vision and Bio-Inspired Computing10.1007/978-981-16-9573-5_19(253-261)Online publication date: 31-Mar-2022
  • (2018)Multi robot collision avoidance in a shared workspaceAutonomous Robots10.1007/s10514-018-9726-542:8(1749-1770)Online publication date: 13-Apr-2018

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    cover image ACM Conferences
    GECCO '14: Proceedings of the 2014 Annual Conference on Genetic and Evolutionary Computation
    July 2014
    1478 pages
    ISBN:9781450326629
    DOI:10.1145/2576768
    Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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    Published: 12 July 2014

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    Author Tags

    1. collision avoidance
    2. cooperation
    3. simulation
    4. stigmergy

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    GECCO '14: Genetic and Evolutionary Computation Conference
    July 12 - 16, 2014
    BC, Vancouver, Canada

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    GECCO '14 Paper Acceptance Rate 180 of 544 submissions, 33%;
    Overall Acceptance Rate 1,669 of 4,410 submissions, 38%

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    • (2022)Stigmergy-Based Collision-Avoidance Algorithm for Self-Organising SwarmsComputational Vision and Bio-Inspired Computing10.1007/978-981-16-9573-5_19(253-261)Online publication date: 31-Mar-2022
    • (2018)Multi robot collision avoidance in a shared workspaceAutonomous Robots10.1007/s10514-018-9726-542:8(1749-1770)Online publication date: 13-Apr-2018

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