swarm robotics research papers
Swarm robotics: From sources of inspiration to domains of application
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Swarm robotics is a novel approach to the coordination of large numbers of relatively simple robots which takes its inspiration from social insects. This paper proposes a definition to this newly emerging approach by 1) describing the desirable properties of swarm robotic
From swarm intelligence to swarm robotics
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The term swarm has been applied to many systems (in biology, engineering, computation, etc.) as they have some of the qualities that the English-language term swarm denotes. With the growth of the various area of swarm research, the swarm terminology has
Swarm robotics
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Swarm Robotics Marco Dorigo FNRS Research Director IRIDIA Universit Libre de Bruxelles Page 2. Swarm robotics What is swarm robotics? It is the application of swarm intelligence principles to collective robotics It is research in collective robotics:
A review of studies in swarm robotics
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ABSTRACT Swarm robotics is a new approach to the coordination of large numbers of relatively simple robots. The approach takes its inspiration from the system-level functioning of social insects which demonstrate three desired characteristics for multi-robot systems:
Special issue on swarm robotics
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Swarm robotics is a new approach to the coordination of multi-robot systems. In contrast with traditional multi-robot systems which use centralised or hierarchical control and communication systems in order to coordinate robots' behaviours, swarm robotics adopts
Swarm robotics: A different approach to service robotics
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ABSTRACT Service robotics, as it has been intended so far, views the accomplishment of a service mission mainly as the result of the action of a single robot. Swarm robotics tackles the very same problem from a different stance, ie, as the result of a team effort of simple
A navigation algorithm for swarm robotics inspired by slime mold aggregation
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This article presents a novel bio-inspired navigation principle for swarm robotics that is based on a technique of signal propagation that was inspired by slime mold. We evaluated this strategy in a variety of simulation experiments that simulates a collective cleaning
Efficient multi-foraging in swarm robotics
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In the multi-foraging task studied in this paper, a group of robots has to efficiently retrieve two different types of prey to a nest. Robots have to decide when they leave the nest to forage and which prey to retrieve. The goal of this study is to identify an efficient multi-foraging
A framework of space–time continuous models for algorithm design in swarm robotics
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ABSTRACT Designing and analyzing self-organizing systems such as robotic swarms is a challenging task even though we have complete knowledge about the robot's interior. It is difficult to determine the individual robot's behavior based on the swarm behavior and vice
Kobot: A mobile robot designed specifically for swarm robotics research
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ABSTRACT The requirements of a mobile robot to be used as part of a swarm robotic system differs from that of a mobile robot to be used as stand-alone. In this paper, we first provide a wishlist of requirements that would be sought for in mobile robot platforms to be used in
Swarm intelligence and its applications in swarm robotics
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This work gives an overview of the broad field of computational swarm intelligence and its applications in swarm robotics. Computational swarm intelligence is modelled on the social behavior of animals and its principle application is as an optimization technique. Swarm
Evolution, self-organization and swarm robotics
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The activities of social insects are often based on a self-organising process, that is,a process in which pattern at the global level of a system emerges solely from numerous interactions among the lower-level components of the system(see Camazine-EtAl: 01, p.
Path formation and goal search in swarm robotics
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ABSTRACT In this work, we present a swarm robotic approach to exploration and navigation. Taking inspiration from swarm intelligence methods, we address the problem of solving complex tasks with the group of robots while using simple control strategies for an
Orientation in a trail network by exploiting its geometry for swarm robotics
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ABSTRACT Two control algorithms for a swarm robot are pre-sented that enable it to orientate itself by using information from the geometry of trail bifurcations within a trail network. The development of these algorithms was inspired by the behavior of Pharaoh's ants as
An immuno-engineering approach for anomaly detection in swarm robotics
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In this paper, we present the first stage of our research strategy to develop an immune- inspired solution for detecting anomalies in a foraging swarm robotic system with an immuno- engineering approach. Within immuno-engineering, the initial stage of our research
Task allocation in swarm robotics. Towards a method for selforganized allocation to complex tasks
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ABSTRACT In this work, we propose a method for self-organized task partitioning and allocation. The current state of the art provides neither anABSTRACT understanding of task allocation problems in self-organized swarm systems, nor tools for modeling and
Aggregation of Swarms for Fault Tolerance in Swarm Robotics using an Immuno-engineering Approach
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ABSTRACT We present initial studies in the development of an immune-inspired solution for fault tolerance for swarm aggregation in swarm robotics systems. Taking inspiration from granuloma formation,(a process in the immune system) we describe how this idea can be
Swarm robotics algorithms: A survey
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ABSTRACT Swarm robotics is a relatively new field that focuses on controlling large-scale homogeneous multi-robot systems. We survey six example swarm robotics control algorithms to give a brief overview of the current state of the cutting-edge. Experimental
Swarm Robotics: research experience for high school students
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ABSTRACT The paper reports an exploratory project to provide research experiences on swarm robotics to high school students. A group of three simple mobile robots (Lego NXT) was used to study 'search and rescue'operation. A bio-inspired global optimization
Exploiting loose horizontal coupling in evolutionary swarm robotics
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We describe a theory from Herbert Simon that links the structure of complex systems to increased speed of evolution, and argue the position that this theory can be beneficial to evolutionary swarm robotic research. We propose a way of applying this theory to
The complexity of grid coverage by swarm robotics
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In this paper we discuss the task of efficiently using ant-like robotic agents for covering a connected region on the Z 2\ bf Z^ 2 grid, whose shape and size are unknown in advance, and which expands at a given rate. This is done using myopic robots, with no ability to
Physical interactions in swarm robotics: the hand-bot case study
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This paper presents a case-study on the performance achieved by the mechanical interactions of self-assembling mobile robots. This study is based on the hand-bot robot, designed to operate within heterogeneous swarms of robots. The hand-bot is specialized
Sensing and Estimation on a Modular Testbed for Swarm Robotics
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ABSTRACT Collective robotics offers the promise of enhanced performance and robustness relative to that of individual robots, with decreased cost or time-to-completion for certain tasks. Having many degrees of freedom, the multi-robot control and estimation problems
Integrals of Markov processes with application to Swarm Robotics modelling
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ABSTRACT This paper reviews some of the techniques for the evaluation of the expected value of a path integral for general Markov chains on countable state spaces and illustrates their application in the context of the analysis of swarm robotics systems. When salient aspects
Selforganized task allocation to sequentially interdependent tasks in swarm robotics
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ABSTRACT In this work we present a self-organized method for allocating the individuals of a robot swarm to tasks that are sequentially interdependent. Tasks that are sequentially interdependent are common-for example they are created by subdividing a more
Swarm Robotics: A Review from the Swarm Engineering Perspective
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ABSTRACT Swarm robotics is an approach to collective robotics that takes inspiration from the self-organized behaviors of social animals. Through simple rules and local interactions, swarm robotics aims at designing robust, scalable and flexible collective behaviors for the
Hierarchical Swarm Robotics
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ABSTRACT Distributed computing is becoming more and more prevalent in engineering today. Swarm robotics is simply an extension of that, not only dividing the computing power, but also the physical capabilities. This project served as a proof of concept investigation into
Swarm-intelligent robotics in prey retrieval tasks
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ABSTRACT In this w ork as w arm-robotic system, called sw ar mb ot, is introduced. A sw armbot is a self-assembling and self-organi z ing artifact composed of as w ar m of simple autonomous mobile robots, called sb o ts that are able to establish (and to release)
Swarm Robotics: Information Sharing By Multirobot System Using Distributed Control And Cooporative Manipulation
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APVA Agaskar, S Jain, M Tailor, P Gosalia ABSTRACT Swarm robotics is a relatively new technology that is being explored for its potential use in a variety of different applications and environments. These include robot autonomy; decentralized control; large numbers of member robots; collective emergent
Swarm Robotics–Final Report
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A Galkin ,agalkin.com ABSTRACT This paper is an attempt to examine aggregation behavior in swarm robotics in a broader context. It examines biomimicry and the caution which must be employed therein. Motivated by social behavior among insects, birds, and fish, it seeks to test a potential
A Macroscopic Model for High Intensity Radiofrequency Signal Detection in Swarm RoboticsSystems
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F Aznar, M Pujol, FA Pujol, R Rizo ,jornadas.imm.upv.es ABSTRACT In recent years, there has been a growing interest in resource location in unknown environments for robotic systems, which are composed of multiple simple robots rather than one highly capable robot ,[2]. This tradeoff reduces the design and hardware complexity
Self-Organized Aggregation of Swarm Robotics based on Disbandment using Timer
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Page 1. Self-Organized Aggregation of Swarm Robotics based on Disbandment using Timer Oct. 1st 2010 – Oct. 31st 2010 References (1) [Beni05] Gerardo Beni. From Swarm intelligence to swarm robotics. Swarm Robotics WS 2004, Lecture Notes in Computer Science, Vol.
Macroscopic information processing in natural systems as an insight for swarm robotics
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DA Shell, M Mataric ,projects.csail.mit.edu Robot systems have been modelled on animals, have been models for animals, and have served as models of animals [12]. Among the most notable examples, particularly in the third category, are robotic swarms consisting of several simple robots that exhibit complex
Design of a prototype underwater research platform for swarm robotics
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ABSTRACT To perform under water robotic research requires specialized equipment. A few pieces of electronics atop a set of wheels are not going to cut it. An underwater research platform must be waterproof, reliable, robust, recoverable and easy to maintain. It must
A Challenging Application in Swarm Robotics: The Autonomous Inspection of Complex Engineered Structures
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T Inspection ,infoscience.epfl.ch Swarm robotics is a relatively new paradigm for the coordination of multiple robots solely based on local interactions using simple individual robotic nodes. Originally inspired by the intriguing capabilities of natural swarms such as termites, wasps, and ants which are
Swarm Robotics: A Research Project with High School Students as Active Participants
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ABSTRACT This paper is concerned with an educational project to provide a rich research experience on swarm robotics to high school students. A group of three mobile robots (the popular Lego NXT) was used to implement a 'search and rescue'operation. A bio-inspired
Self-Assembly in Swarm Robotics Systems
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ABSTRACT This report describes recent approaches proposed for self-organization and pattern formation, and introduces an evolutionary approach to the pattern formation and selfassembly task. Parallelized genetic algorithms are used in this study to evolve neural
ADVANCED COMMUNICATION PROTOCOLS FOR SWARM ROBOTICS: ASurvey
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EMH Zahugi, S Prasad, TV Prasad ,Power ABSTRACT Swarm robotics is the application of swarm intelligence that is inspired from natural swarms such as ant colony, bee hives, flock of birds etc. Ants communicate by laying down a pheromone trail to help other ants trace the shortest path from nest to the food
SECURITY CHALLENGES FOR SWARM ROBOTICS
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Swarm robotics is a relatively young area of research, which is growing rapidly. As with many technologies, there is no formal definition for swarm robotics that engenders universal agreement, however there are some characteristics that have been generally accepted.
Task Allocation in Swarm Robotics
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A Brutschy - swarm-bots.org ABSTRACT In this work, we propose a method for self-organized task partitioning and allocation. The current state of the art provides neither anABSTRACT understanding of task allocation problems in self-organized swarm systems, nor tools for modeling and
Mechanisms for Task Allocation in Swarm Robotics
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M Burger ,tmi.pst.ifi.lmu.de ABSTRACT In the research field of Swarm Robotics, engineers have to decide how to organize their robotic swarm. In this context, one of the most important decisions is which robot should execute which task in order to achieve a given global mission. The corresponding
Ant–swarm robotics for a dynamic cleaning problem
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ABSTRACT Several recent works considered multi a (ge) nt robotics in static environments. In this work we examine ways of operating in dynamic environments, in which changes take place independently of the agents' activity. The work focuses on a dynamic variant of the
Investigating Evolution for Cooperative Foraging in Swarm Robotics
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ABSTRACT This project investigates whether evolutionary algorithms can be applied to the parameters used by a swarm of robotics tasked with cooperatively foraging in an environment. Cooperation is achieved through multiple robots being required to move an
Swarm robotics simulator
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Nowadays we know some algorithms like Artificial Neural Networks (ANN), genetic programming, data mining etc. These systems use random processes for solving problems. This paper describes a new artificial intelligence algorithm that do not use any random
Swarm Intelligence and Its Applications in Swarm Robotics
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ABSTRACT This work gives an overview of the broad field of computational swarm intelligence and its applications in swarm robotics. Computational swarm intelligence is modelled on the social behavior of animals and its principle application is as an optimization technique.
Analysis of Algorithms to implement Swarm Bots for Effective Swarm Robotics
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ABSTRACT The swarm intelligence paradigm has established to have very interesting properties such as robustness, flexibility and ability to solve complex problems exploiting parallelism and self-organization. Several robotics implementations of this paradigm
Social Network Analysis for Automatic Target Recognition in Swarm Robotics
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ABSTRACT Over the past few years, swarm-based systems have emerged as an attractive and promising approach for implementing distributed autonomous systems. This is useful in different applications, such as automatic target recognition (ATR). In ATR, the most
on New Computer Architectures and Their Applications: An Extended Simulation of Complex Task Partitioning Method in a Self-organized Robotics Swarm
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M Jangjou, A Bagheri, MMR Kashani, KS Oskooyee ,sdiwc.net International Journal on New Computer Architectures and Their Applications (IJNCAA) 1(3): 2220-9085) International Journal on New Computer Architectures and Their
Multi-armed Bandit Formulation of the Task Partitioning Problem in Swarm Robotics
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Task partitioning is a way of organizing work consisting in the decomposition of a task into smaller sub-tasks that can be tackled separately. Task partitioning can be beneficial in terms of reduction of physical interference, increase of efficiency, higher parallelism, and
Security Challenges for Swarm Robotics
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ABSTRACT Swarm robotics is a relatively new technology that is being explored for its potential use in a variety of different applications and environments. Previous emerging technologies have often overlooked security until later developmental stages, when it has had to be
Evolutionary Swarm Robotics: a theoretical and methodological itinerary from individual neuro-controllers to collective behaviours
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In the last decade, swarm robotics gathered much attention in the research community. By drawing inspiration from social insects and other self-organising systems, it focuses on large robot groups featuring distributed control, adaptation, high robustness and flexibility.
Adaptive Patterns for Intelligent Distributed Systems: A Swarm Robotics Case Study
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In order to propose some evaluation of adaptive architectural patterns for intelligent distributed systems, in this paper we present a case study where a swarm of robots is required to coordinate and adapt to perform a task. We will present the results of several
Swarm robotics
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Erol. Sahin, WM Spears, AFT (Alan FT) Winfield ,zenithlib.googlecode.com Swarm robotics is the study of how large numbers of relatively simple physically embodied agents can be designed such that a desired collective behavior emerges from the local interactions among agents and between the agents and the environment. Swarm robotics
Cognitive Robotics 2008/2009 Swarm Robotics
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RL Feldbrugge ,ai.rug.nl ABSTRACT Complex robotic applications like search and rescue operations must cope with very complex and partially unknown environments. Robots that must perform tasks in these environments must be mobile, versatile and robust. This is the aim of swarm robotics in
Task Partitioning in Swarm Robotics as a Multi-Armed Bandit Problem
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Task partitioning is the decomposition of a task in two or more sub-tasks that can be tackled separately by different individuals of a group [1, 6]. Task partitioning can result in increased efficiency by reducing interferences between individuals as well as overall energy
Integrals of Markov Processes with Application to Swarm Robotics Modelling
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ABSTRACT This paper reviews some of the techniques for the evaluation of the expected value of a path integral for general Markov chains on countable state spaces and illustrates their application in the context of the analysis of swarm robotics systems. When salient aspects
Swarm Robotics
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W Ferenc, H Kastein, L Lieu, R Wilson ,math.ucla.edu j= 1 Cr e- xi- xj/lr- Cae- xi- xj/la xi: i-th car's position C0: velocity alignment coefficient Vi: i- th car's velocity Cl: leader following coefficient y: position of leader car Cr: car repulsion coefficient N: number of cars Ca: car attraction coefficient a: self-propulsion lr: repulsion
Towards biologically plausible distributed evolutionary algorithms in Swarm Robotics.
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Swarm robotics simply put is the study of robotic systems taking advantage of swarming or colony level behaviours similar to those found in social insects like Ants or Bees. The sum of the parts is greater than the whole. Heavy constraints are made on the mechanical and
Adaptive Swarm Robotics in Rough Terrain Navigation
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ABSTRACT A recent trend in robotics research has been the application of the social insect metaphor to groups of autonomous robots. This research field is known as swarm robotics. In this DEA thesis we investigate the application in the swarm robotics context of an
Applying Swarm Intelligence and Evolutionary Robotics to Robot Soccer
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A Ireland ,macs.hw.ac.uk ABSTRACT The aim of this project is to implement a swarm control algorithm designed to simulate a game of football. A study of this is important as a swarm robotics system has desirable properties unlikely to be found in other systems, an example being that they
RESEARCH ON CONTENT-BASED INFORMATION DISSEMINATION IN SWARM ROBOTICSSYSTEM
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ABSTRACT With the development of robot technology, study of swarm robotics collaboration has become a hot research at home and abroad, such as rescue missions and battlefield deployments. Communication and information sharing is essential to efficient
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