Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Soft Computing
Published in: Soft Computing 6/2018

11-05-2016 | Methodologies and Application

Morphogen diffusion algorithms for tracking and herding using a swarm of kilobots

Authors: Hyondong Oh, Ataollah R. Shiraz, Yaochu Jin

Published in: Soft Computing | Issue 6/2018

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

This paper investigates self-organised collective formation control using swarm robots. In particular, we focus on collective tracking and herding using a large number of very simple robots. To this end, we choose kilobots as our swarm robot test bed due to its low cost and attractive operational scalability. Note, however, that kilobots have extremely limited locomotion, sensing and communication capabilities. To handle these limitations, a number of new control algorithms based on morphogen diffusion and network connectivity preservation have been suggested for collective object tracking and herding. Numerical simulations of large-scale swarm systems as well as preliminary physical experiments with a relatively small number of kilobots have been performed to verify the effectiveness of the proposed algorithms.
previous article Hybrid rule-based motion planner for mobile robot in cluttered workspace
next article A personal knowledge management metamodel based on semantic analysis and social information

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now
Literature
Abidin ZZ, Arshad MR, Ngah UK (2015) An introduction to swarming robotics: application development trends. Artif Intell Rev 43(4):501–514CrossRef
Jin Y, Guo H, Meng Y (2012) A hierarchical gene regulatory network for adaptive multirobot pattern formation. IEEE Trans Syst Man Cybern Part B Cybern 42(3):805–816CrossRef
Kondo S, Miura T (2010) Reaction-diffusion model as a framework for understanding biological pattern formation. Science 329:1616–1620MathSciNetCrossRefMATH
Mamei M, Vasirani M, Zambonelli F (2004) Experiments of morphogenesis in swarms of simple mobile robots. Appl Artif Intell 18:903–919CrossRef
Mondadal F (2009) The e-puck, a robot designed for education in engineering. In: 9th Conference on autonomous robot systems and competitions
Nagpal R, Shrobe H, Bachrach J (2003) Organizing a global coordinate system from local information on an ad hoc sensor network, vol 2634. IPSN, LNCSSpringer, Berlin Heidelberg
Navarro I, Matia F (2009) A proposal of a set of metrics for collective movement of robots. In: Proceedings of workshop on good experimental methodology in robotics, robotics science and systems
Navarro I, Matia F (2013) A survey of collective movement of mobile robots. Int J Adv Robot Syst 10:1–9CrossRef
Oh H, Jin Y (2014) Evolving hierarchical gene regulatory networks for morphogenetic pattern formation of swarm robots. In: IEEE congress on evolutionary computation (CEC). Beijing, China, July
Oh H, Shiraz AR, Jin Y (2014) Adaptive swarm robot region coverage using gene regulatory networks. Advances in autonomous robotics systems, lecture notes in computer science 8717:197–208CrossRef
Okubo A (1986) Dynamical aspects of animal grouping: swarms, schools, flocks, and herds. Adv Biophys 22:1–94CrossRef
Reynolds CW (1987) Flocks, herds, and schools: a distributed behavioral model. Comput Gr 21:25–34CrossRef
Rubenstein M, Ahler C, Nagpal. Kilobot R (2012) A low cost scalable robot system for collective behaviors. In: IEEE international conference on robotics and automation (ICRA). pp 3293–3298
Sayama H (2010) Robust morphogenesis of robotic swarms. IEEE Comput Intell Mag 5(3):43–49CrossRef
Vartholomeos P, Papadopoulos E (2006) Analysis, design and control of a planar micro-robot driven by two centripetal-force actuators. In: IEEE international conference on robotics and automation (ICRA). Orlando, Florida, May
Winfield AFT, Nembrini J (2012) Emergent swarm morphology control of wireless networked mobile robots, volume 8 of morphogenetic engineering, understanding complex systems. Springer, Berlin Heidelberg
Yeom K (2010) Bio-inspired automatic shape formation for swarms of self-reconfigurable modular robots. In: IEEE fifth international conference on bio-inspired computing: theories and applications (BIC-TA). pp 469–476
Metadata
Title
Morphogen diffusion algorithms for tracking and herding using a swarm of kilobots
Authors
Hyondong Oh
Ataollah R. Shiraz
Yaochu Jin
Publication date
11-05-2016
Publisher
Springer Berlin Heidelberg
Published in
Soft Computing / Issue 6/2018
Print ISSN: 1432-7643
Electronic ISSN: 1433-7479
DOI
https://doi.org/10.1007/s00500-016-2182-2

Other articles of this Issue 6/2018

Soft Computing 6/2018 Go to the issue

Methodologies and Application

Technical attributes ratings in fuzzy QFD by integrating interval-valued intuitionistic fuzzy sets and Choquet integral

Methodologies and Application

A personal knowledge management metamodel based on semantic analysis and social information

Methodologies and Application

Hybrid rule-based motion planner for mobile robot in cluttered workspace

Methodologies and Application

A novel cluster validity index for fuzzy C-means algorithm

Methodologies and Application

Large-scale linear nonparallel SVMs

Correction

Correction to: Redefinition of the concept of fuzzy set based on vague partition from the perspective of axiomatization

Premium Partner

    Image Credits