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Mobile robots are used in many applications, such as planetary exploration, search and rescue, surveillance. Cooperative behaviour in decentralized mobile agents requires communication among them. However, such communication can have negative consequences for the energy consumption. In this paper, we applied two bio-inspired meta-heuristics for the coordination of mobile robots that need to accomplish...
MWSN is an emerging area of research and most of the work in the field of MWSN is done at the simulation level as there is hardly any cost effective hardware platform(node/mote) available for MWSN applications. To handle mobility, the MWSN node should be much more efficient than the nodes in static WSN. Moreover, a MWSN node should be capable of handling real time mobility control, path planning and...
Biological swarm is a fascinating behaviour of nature that has been successfully applied to solve human problem especially for robotics application. The high economical cost and large area required to execute swarm robotics scenarios does not permit experimentation with real robot. Model and simulation of the mass number of these robots are extremely complex and often inaccurate. This paper describes...
The following topics are dealt with: machine learning; swarm intelligence; constraint programming; evolutionary algorithms; data mining; uncertainty handling; natural language processing; image processing; robotics; and multiagent systems.
A collective cleanup task requires a multi-robot system to search for randomly distributed targets and remove them under a dynamic environment. In traditional methods, robots wandered in subareas (which caused too much repeat search) and interchanged all detected information with their neighbors, so global searching time and communication traffic increased. In this paper, we propose a swarm intelligence...
The use of a swarm of autonomous robots for simulated bushfire fighting is studied in this work. A distributed and behavioral control strategy, the Ants based Control of Swarm Robots (ACSR), is proposed. In this approach, each fire fighting robot can operate independently from decentralized controllers and the goal is accomplished by the individual robot's own ability. In particular, improvements...
Summary form only given. The contemporary robotics technology is broadening its applications from factory to more general-purpose applications in domestic and public use, e.g., partner to the elderly, rehabilitations, search and rescue, etc. If robotics technology is to be successful in such complex, unstructured, dynamic environments with high level of uncertainties, it will need to meet new levels...
Multi-robot systems have drawn the attention of many different research communities, such as physics, electronics, control, computer science, mathematics, and biology. Motivated by the growing popularity of multi-robot system and related coordination approaches, this paper surveys and analyzes the relevant literature, including six classification dimensions: system architectures, communication and...
Unmanned Aerial Vehicle (UAV) is defined as aircraft without the onboard presence of pilots. UAVs have been used to perform intelligence, surveillance, and reconnaissance missions. The UAVs are not limited to military operations, they can also be used in commercial applications such as telecommunications, ground traffic control, search and rescue operations, crop monitoring, etc. In this paper, we...
The capability of solving the simultaneous localization and mapping (SLAM) problem is one of the fundamental tasks of mobile robots and many research has focused on this problem over the last decades. In this paper, the SLAM problem is considered as the problem of finding an optimal path through a tree resulting in minimum costs. For this purpose, we apply the Ant Colony Optimization meta-heuristic,...
This paper presents a solution to the problem of pattern formation on a grid map, for a homogeneous multi-robot system. In this paper we propose a natural swarm inspired algorithm based on the Particle Swarm Optimization (PSO) model and Virtual Pheromone mechanism. Basically, a virtual pheromone trail based method is proposed as the message passing mechanism among the robots, where robots make distributed...
Simultaneous operation of multiple UAVs enables to enhance the mission accomplishment efficiency. In order to achieve this, easily scalable control algorithms are required, and swarm intelligence having such characteristics as flexibility, robustness, decentralized control, and self-organization based on behavioral model comes into the spotlight as a practical alternative. Recently, evolutionary robotics...
Swarm Robotics refers to the application of Swarm Intelligence techniques where a desired collective behavior emerges from the local interactions of robots with one another and with their environment. In this paper, a modified Bees Algorithm is proposed for multi-target search and coverage by an autonomous swarm of robotic “bees”. The objective is to find targets in an unknown area, send their estimated...
This research investigates the application of swarm intelligence principles for the co-operative behavior of autonomous collective robots. Using swarm intelligence technique robots are able to get their optimized path during navigation. A successful way of structuring the navigation task deals with the issue of co-operative behavior among multiple mobile robots. Using Ant Colony Optimization, robot...
This paper revisits a traditional Ant Foraging algorithm and proposes a Cluster-based Softbots algorithm to address the performance issues caused by constraints of random autonomous search featured in most swarm intelligence-based algorithms. A simple hierarchy is introduced to regulate the unfolding of dynamically changing swarm-like behaviors. Comparative experiments for Ant Foraging and the proposed...
We study a simple algorithm inspired by the Brazil nut effect for achieving segregation in a swarm of mobile robots. The algorithm lets each robot mimic a particle of a certain size and broadcast this information locally. The motion of each particle is controlled by three reactive behaviors: random walk, taxis, and repulsion by other particles. The segregation task requires the swarm to self-organize...
A swarm is a decentralized and self-organized collective with lots of simple but autonomous and homogeneous individuals. Swarm intelligence is defined to describe its emergent behaviors. Both sensor networks and mobile multi-robots can have swarm features. The combination and cooperation of these two systems is a tendency recently. From the view of swarm organisms, the challenges of combination of...
In this paper we describe the application of a Simple ACO (S-ACO) as an optimization method for the membership functions' parameters of a fuzzy logic controller (FLC) in order to find the optimal intelligent controller for an autonomous wheeled mobile robot. Simulation results show that ACO outperforms a GA in the optimization of FLCs for an autonomous mobile robot.
In this paper we proposed a novel algorithm ant-based robot path planning (ARPP) based on ant colony system (ACS) to mimic a swarm of ants to find the globally optimal path for autonomous mobile robots. Visibility graph was used as both the roadmap and construction graph in ARPP. Although the near-optimums were readily available by ARPP, it is hard to find the optimality; therefore we proposed the...
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