Evolving Self-Organizing Behaviors for a Swarm-Bot

Dorigo, Marco; Trianni, Vito; Şahi̇n, Erol; Groß, Roderich; Labella, Thomas Halva; Baldassarre, Gianluca; Nolfi, Stefano; Deneubourg, Jean‐Louis; Mondada, Francesco; Floreano, Dario; Gambardella, Luca Maria

doi:10.1023/b:auro.0000033973.24945.f3

Cited by 293 publications

(164 citation statements)

References 39 publications

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“…The SWARM-BOT platform has been used for several studies, mainly in swarm intelligence and collective robotics (see, for instance, Dorigo et al 2004Dorigo et al , 2006Trianni and Dorigo 2006). Overcoming steep hills and transport of heavy objects are notable examples of tasks which a single robot could not complete individually, but which have been solved successfully by teams of collaborating robots O'Grady et al 2005;Nouyan et al 2006).…”

Section: Hardware Platformmentioning

confidence: 99%

SWARMORPH-script: a language for arbitrary morphology generation in self-assembling robots

2008

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In certain multi-robot systems, the physical limitations of the individual robots can be overcome using self-assembly-the autonomous creation of physical connections between individual robots to form a larger composite robotic entity. However, existing robotic systems capable of self-assembly have little or no control over the morphology of the self-assembled entities. This restricts the adaptability of such systems, since robots can carry out certain tasks more efficiently if their morphology is specialized to the task. In this paper, we extend the distributed mechanism presented in (Christensen et al. in IEEE Robot. Autom. Mag. 14(4):18-25, 2007) that allows autonomous mobile robots to self-assemble into specific morphologies. We present a simple language, SWARMORPH-script, that allows for concise descriptions of the rules that govern the distributed morphology growth process. Local visual communication allows physically connected robots to send and receive strings. A string can be a rule identifier that triggers execution of predefined logic for extending a morphology. Alternatively, whole scripts can be communicated and subsequently executed on the receiving robot. On real self-propelled robots capable of self-assembly, we demonstrate how specific morphologies can be constructed, how the size of a morphology can be regulated, and how multiple morphologies can be assembled. We also show how the transmission of entire scripts gives the robots the capacity to participate in the formation of morphologies of which they had no a priori knowledge.

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Section: Hardware Platformmentioning

confidence: 99%

SWARMORPH-script: a language for arbitrary morphology generation in self-assembling robots

2008

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“…This study was conducted on the SWARM-BOT robotic platform [11,10,3]. The system consists of a number of mobile autonomous robots called s-bots (see Fig.…”

Section: The S-botmentioning

confidence: 99%

Self-assembly on Demand in a Group of Physical Autonomous Mobile Robots Navigating Rough Terrain

O’Grady

Groß

Mondada

et al. 2005

Advances in Artificial Life

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Abstract. Consider a group of autonomous, mobile robots with the ability to physically connect to one another (self-assemble). The group is said to exhibit functional self-assembly if the robots can choose to selfassemble in response to the demands of their task and environment [15]. We present the first robotic controller capable of functional self-assembly implemented on a real robotic platform.The task we consider requires a group of robots to navigate over an area of unknown terrain towards a target light source. If possible, the robots should navigate to the target independently. If, however, the terrain proves too difficult for a single robot, the robots should self-assemble into a larger group entity and collectively navigate to the target.We believe this to be one of the most complex tasks carried out to date by a team of physical autonomous robots. We present quantitative results confirming the efficacy of our controller. This puts our robotic system at the cutting edge of autonomous mobile multi-robot research.

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“…1). The s-bot platform has been used for several studies in swarm intelligence and collective robotics [19,20,21]. Each s-bot is equipped with an Xscale CPU running at 400 MHz and several sensors including an omni-directional camera and infrared proximity sensors.…”

Section: The Robots and The Taskmentioning

confidence: 99%

Exogenous Fault Detection in a Collective Robotic Task

Christensen

O’Grady

Birattari

et al.

Advances in Artificial Life

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Abstract. In robotics, exogenous fault detection is the process through which one robot detects faults that occur in other, physically separate robots. In this paper, we study exogenous fault detection in a collective leader-follower task for autonomous robots. We record sensory inputs from the robots while they are operating normally and after simulated faults have been injected. Given that faults are simulated, we can correlate the flow of sensory inputs with the fault state of the robots. We use back-propagation neural networks to synthesize fault detection components. We show that the flow of sensory inputs is sufficient information for performing exogenous fault detection, that is, we show that the leader robot is capable of detecting faults in the follower robot. All results are based on experiments with real robots.

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Evolving Self-Organizing Behaviors for a Swarm-Bot

Cited by 293 publications

References 39 publications

SWARMORPH-script: a language for arbitrary morphology generation in self-assembling robots

SWARMORPH-script: a language for arbitrary morphology generation in self-assembling robots

Self-assembly on Demand in a Group of Physical Autonomous Mobile Robots Navigating Rough Terrain

Exogenous Fault Detection in a Collective Robotic Task

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