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Published in:
2014 | OriginalPaper | Chapter
Design Principles for Cooperative Robots with Uncertainty-Aware and Resource-Wise Adaptive Behavior
Authors : Carlos García-Saura, Francisco de Borja Rodríguez, Pablo Varona
Published in: Biomimetic and Biohybrid Systems
Publisher: Springer International Publishing
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In this paper we describe several principles for designing and implementing bio-inspired robotic collaborative search strategies. The design approach is particularly oriented for algorithms that can tackle search problems that deal with uncertainty, such as locating odor sources that have spatial and temporal variance. These kind of problems can be solved more efficiently by a reasonable amount of collaborative robots, and thus we propose a low-cost platform based on the open-source philosophy. The platform allows to evaluate different collective strategies that emerge from the interaction among robots that are aware of the uncertainty and make a wise use of all available sensors and resources. This includes an adaptive use of sensor signals and actuators, and a good communication strategy. We introduce GNBot, a flexible open-source robotic platform, and a virtual communication network topology approach to validate uncertainty-aware and resource wise bio-inspired search strategies.