Paper Info
Title
Counter-ant algorithm for evolving multirobot collaboration
Abstract
The use of multirobot systems, is affecting our society in a fundamental way; from their use in hazardous environments, to their application in automated environmental cleanup. In an unknown environment, one of the most important problem related to multirobot systems, is to decide how to coordinate actions in order to achieve tasks in an optimal way. Ant algorithms are proved to be very useful in solving such distributed control problems. We introduce in this paper a modified version of the known ant algorithm, called Counter-Ant Algorithm (CAA). Indeed, the robots' collaborative behaviour is based on repulsion instead of attraction to pheromone, which is a chemical matter open to evaporation and representing the core of ants' cooperation. In order to test the performance of our CAA, we implement, simulate and test our algorithm in a generic multirobot environment. In practical terms, the subdivision of the cleaning space is achieved in emergent and evolving way. A series of simulations show the usefulness of our algorithm for adaptive and cooperative cleanup.
Year
DOI
Venue
2008
10.1145/1456223.1456245
CSTST
Keywords
Field
DocType
multirobot collaboration,counter-ant algorithm,automated environmental cleanup,unknown environment,hazardous environment,multirobot system,generic multirobot environment,chemical matter,cooperative cleanup,ant algorithm,cleaning space
Computer science,Algorithm,Subdivision,Artificial intelligence,Robot,Multirobot systems,Distributed computing
Conference
Citations 
PageRank 
References 
7
0.54
11
Authors
3
Name
Order
Citations
PageRank
Abdelhak Chatty1163.21
Ilhem Kallel2378.40
Mohamed Adel Alimi31947217.16