Paper Info
Title
Mobile stigmergic markers for navigation in a heterogeneous robotic swarm
Abstract
We study self-organized navigation in a heterogeneous robotic swarm consisting of two types of robots: small wheeled robots, called foot-bots, and flying robots that can attach to the ceiling, called eye-bots. The task of foot-bots is to navigate back and forth between a source and a target location. The eye-bots are placed in a chain on the ceiling, connecting source and target using infrared communication. Their task is to guide foot-bots, by giving local directional instructions. The problem we address is how the positions of eye-bots and the directional instructions they give can be adapted, so that they indicate a path that is efficient for foot-bot navigation, also in the presence of obstacles. We propose an approach of mutual adaptation between foot-bots and eye-bots. Our solution is inspired by pheromone based navigation of ants, as eye-bots serve as mobile stigmergic markers for foot-bot navigation.
Year
DOI
Venue
2010
10.1007/978-3-642-15461-4_44
ANTS Conference
Keywords
DocType
Volume
self-organized navigation,mobile stigmergic marker,directional instruction,infrared communication,local directional instruction,target location,heterogeneous robotic swarm,mutual adaptation,foot-bot navigation,infrared,self organization
Conference
6234
ISSN
ISBN
Citations 
0302-9743
3-642-15460-3
3
PageRank 
References 
Authors
0.44
8
4
Name
Order
Citations
PageRank
Frederick Ducatelle130.44
Gianni A. Di Caro272151.79
Alexander Förster323615.48
Luca Maria Gambardella47926726.40