Immune network control for stigmergy based foraging behaviour of autonomous mobile robots

Tsankova, Diana; Georgieva, Velichka; Zezulka, F.; Bradáč, Zdeněk

doi:10.1002/acs.915

Cited by 16 publications

(7 citation statements)

References 32 publications

(61 reference statements)

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“…Here, Á.t/ is referred to as 'performance function'. The aforementioned concepts were originally presented in [20], which can be illustrated using Figures 3 and 4, where the parameters in performance bounds (15) are chosen as…”

Section: Remarkmentioning

confidence: 99%

“…In [10], adaptive tracking and stabilization problems were solved simultaneously. Other related works on control of nonholonomic mobile robots for stabilization and tracking include, but are not limited to, [11][12][13][14][15][16][17].…”

Section: Introductionmentioning

confidence: 99%

“…From properties (i) and (ii) of S 1 and S 2 , the 'constrained' error conditions in (15) can be expressed as´e…”

mentioning

confidence: 99%

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Prescribed performance bound‐based adaptive path‐following control of uncertain nonholonomic mobile robots

Wang

Huang

Chen

2016

Adaptive Control & Signal

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In this paper, we consider the transient performance of path-following control of nonholonomic mobile robots with parametric uncertainties. By incorporating prescribed performance bound (PPB) technique, the transient performances on position and orientational tracking errors will be guaranteed with convergence rates no less than certain pre-specified values and sufficiently small maximum overshoots. We also extend the proposed scheme to solve the formation control problem for a group of N unicycle-type mobile robots without inter-robot communications. It is ensured that all the robots can track their references with arbitrarily small errors and no collision will occur between any two robots. Simulation studies verify the established theoretical results.We denote by q D OEx; y T , the actual position of the robot. Given a reference path q d D OEx d .s/; y d .s/ T for the robot as shown in Figure 2, where s is a path parameter; the objective of this paper is to design control torque for the nonholonomic mobile robot modeled by (1)-(2) such that the robot can effectively follow q d while ensuring the transient performances of the position and orientation tracking errors. Note that the path q d may be regarded as generated by a 'reference robot'.

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Section: Remarkmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Prescribed performance bound‐based adaptive path‐following control of uncertain nonholonomic mobile robots

Wang

Huang

Chen

2016

Adaptive Control & Signal

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“…As a result, approaches that mimic some of their characteristics and mechanisms (e.g., stigmergy) have been exhaustively applied in robotics (e.g., Refs. ), task allocation or optimization and can also be adopted to implement autonomous systems. The following sections will present how some of these concepts and autonomous system paradigms have been applied to satellite missions and what are the necessary ingredients to ultimately achieve fully autonomous DSS.…”

Section: Autonomymentioning

confidence: 99%

Applying autonomy to distributed satellite systems: Trends, challenges, and future prospects

Araguz

Bou-Balust

Alarcón

2018

Systems Engineering

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While monolithic satellite missions still pose significant advantages in terms of accuracy and operations, novel distributed architectures are promising improved flexibility, responsiveness and adaptability to structural and functional changes. Large satellite swarms, opportunistic satellite networks or heterogeneous constellations hybridizing small-spacecraft nodes with high-performance satellites are becoming feasible and advantageous alternatives requiring the adoption of new operation paradigms that enhance their autonomy. While autonomy is a notion that is gaining acceptance in monolithic satellite missions, it can also be deemed an integral characteristic in Distributed Satellite Systems. In this context, this paper focuses on the motivations for system-level autonomy in DSS and justifies its need as an enabler of system qualities.Autonomy is also presented as a necessary feature to bring new distributed Earth observation functions (which require coordination and collaboration mechanisms) and to allow for novel structural functions (e.g. opportunistic coalitions, exchange of resources or in-orbit data services).Mission Planning and Scheduling frameworks (MPS) are then presented as a key component to * Corresponding author. E-mail addresses: {carles.araguz, elisenda.bou, eduard.alarcon}@upc.edu 1 implement autonomous operations in satellite missions. An exhaustive knowledge classification explores the design aspects of MPS for DSS, and conceptually groups them into: components and organizational paradigms; problem modeling and representation; optimization techniques and metaheuristics; execution and runtime characteristics; and the notions of tasks, resources and constraints. This paper concludes by proposing future strands of work devoted to study the tradeoffs of autonomy in large-scale, highly dynamic and heterogeneous networks through frameworks that consider some of the limitations of small spacecraft technologies.

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“…Roboticists and others use immune analogies in the design of many self-organising behaviours (e.g. learning [42] and foraging [40]). Of particular relevance here is work on fault tolerance and problem solving: the focus of, for example, the SYMBRION project (www.symbrion.eu).…”

Section: Adapting To Change: Using Immune Inspirationmentioning

confidence: 99%

Self-organisation for Survival in Complex Computer Architectures

Polack

2010

Lecture Notes in Computer Science

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Abstract. This chapter steps back from specific self-organisational architectural solutions to consider what self-organisation means in the context of complex systems. Drawing on insights in complexity and selforganisation, the chapter explores how the natural propensity of complex systems (such as the mammalian immune system) to self-organise could be exploited as a mechanism for adaptation in complex computer architectures. Drawing on experience of immune-inspired fault-tolerant swarm robotics, the chapter speculates on how complex systems such as global information systems could adopt self-organised survivability.

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Immune network control for stigmergy based foraging behaviour of autonomous mobile robots

Cited by 16 publications

References 32 publications

Prescribed performance bound‐based adaptive path‐following control of uncertain nonholonomic mobile robots

Prescribed performance bound‐based adaptive path‐following control of uncertain nonholonomic mobile robots

Applying autonomy to distributed satellite systems: Trends, challenges, and future prospects

Self-organisation for Survival in Complex Computer Architectures

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