Stigmergic algorithms for multiple minimalistic robots on an RFID floor

Khaliq, Ali Abdul,1987-Örebro universitet,Institutionen för naturvetenskap och teknik,AASS (författare)

Stigmergy is a powerful principle in nature, which has been shown to have interesting applications to robotic systems. By leveraging the ability to store information in the environment, robots with minimal sensing, memory, and computational capabilities can solve complex problems like global path planning. In this paper, we discuss the use of stigmergy in minimalist multi-robot systems, in which robots do not need to use any internal model, long-range sensing, or position awareness. We illustrate our discussion with three case studies: building a globally optimal navigation map, building a gradient map of a sensed feature, and updating the above maps dynamically. All case studies have been implemented in a real environment with multiple ePuck robots, using a floor with 1,500 embedded radio frequency identification tags as the stigmergic medium. Results collected from tens of hours of real experiments and thousands of simulated runs demonstrate the effectiveness of our approach.

Di Rocco, Maurizio,1982-Örebro universitet,Institutionen för naturvetenskap och teknik,AASS(Swepub:oru)modo (författare)
Saffiotti, Alessandro,1960-Örebro universitet,Institutionen för naturvetenskap och teknik,AASS(Swepub:oru)asaffio (författare)
Örebro universitetInstitutionen för naturvetenskap och teknik (creator_code:org_t)

Ingår i:Swarm Intelligence: Springer Science and Business Media LLC8:3, s. 199-2251935-38201935-3812

Av författaren/redakt...: Khaliq, Ali Abdu ...; Di Rocco, Mauriz ...; Saffiotti, Aless ...

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