Paper Info
Title
Bio-Inspired Group Behaviors For The Deployment Of A Swarm Of Robots To Multiple Destinations
Abstract
We present a methodology for characterizing and synthesizing swarm behaviors using both a macroscopic model that represents a swarm as a continuum and a microscopic model that represents individual robots. We develop a systematic approach for synthesizing behaviors at the macroscopic level that can be realized on individual robots at the microscopic level. Our methodology is inspired by a dynamical model of ant house hunting [1], a decentralized process in which a colony attempts to emigrate to the best site among several alternatives. The model is hybrid because the colony switches between different sets of behaviors, or modes, during this process. At the macroscopic level, we are able to synthesize controllers that result in the deployment of a robotic swarm in a predefined ratio between distinct sites. We then derive hybrid controllers for individual robots using only local interactions and no communication that respect the specifications of the global continuous behavior. Our simulations demonstrate that our synthesis procedure yields a correct microscopic model from the macroscopic description with guarantees on performance at both levels.
Year
DOI
Venue
2007
10.1109/ROBOT.2007.363665
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10
Keywords
Field
DocType
robot control,differential equations,microscopy,solid modeling,difference set,group behavior
Robot control,Macroscopic model,Software deployment,Swarm behaviour,Control theory,Ant robotics,Control engineering,Solid modeling,Artificial intelligence,Engineering,Robot,Swarm robotics
Conference
Volume
Issue
ISSN
2007
1
1050-4729
Citations 
PageRank 
References 
25
1.63
9
Authors
4
Name
Order
Citations
PageRank
Spring Berman131730.90
Ádám Halász220313.41
Vijay Kumar37086693.29
Stephen C. Pratt41007.21