&lt;tex&gt;$\Phi$&lt;/tex&gt; Clust: Pheromone-Based Aggregation for Robotic Swarms

Arvin, Farshad; Turgut, Ali Emre; Krajník, Tomáš; Rahimi, S.; Okay, İlkin Ege; Yue, Shigang; Watson, Simon; Lennox, Barry

doi:10.1109/iros.2018.8593961

Cited by 28 publications

(28 citation statements)

References 24 publications

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“…It was revealed that diffusion had the most significant impact both on the size of aggregate and cohesiveness. This result is identical with the impact of diffusion on the swarm behaviour of robots reported in Arvin et al (2018). Such impact of diffusion can be exploited for desired swarm behaviour (Payton et al, 2001).…”

Section: Static Cue Configurationsupporting

confidence: 82%

Bio-inspired artificial pheromone system for swarm robotics applications

Qiu

Turgut

et al. 2020

Adaptive Behavior

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Pheromones are chemical substances released into the environment by an individual animal, which elicit stereotyped behaviours widely found across the animal kingdom. Inspired by the effective use of pheromones in social insects, pheromonal communication has been adopted to swarm robotics domain using diverse approaches such as alcohol, RFID tags and light. COSΦ is one of the light-based artificial pheromone systems which can emulate realistic pheromones and environment properties through the system. This article provides a significant improvement to the state-of-the-art by proposing a novel artificial pheromone system that simulates pheromones with environmental effects by adopting a model of spatio-temporal development of pheromone derived from a flow of fluid in nature. Using the proposed system, we investigated the collective behaviour of a robot swarm in a bio-inspired aggregation scenario, where robots aggregated on a circular pheromone cue with different environmental factors, that is, diffusion and pheromone shift. The results demonstrated the feasibility of the proposed pheromone system for use in swarm robotic applications.

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Section: Static Cue Configurationsupporting

confidence: 82%

Bio-inspired artificial pheromone system for swarm robotics applications

Qiu

Turgut

et al. 2020

Adaptive Behavior

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“…Pheromone-based approaches, as in [5] and [17] are difficult to realise in hardware. The various attempts to provide hardware implementations have resulted in the use of beacon robots [4], LCD platform [1], RFID and other technologies [16]. Such approaches do not scale well when increasing size of the environment.…”

Section: Review Of Similar Workmentioning

confidence: 99%

Biomimetic and Biohybrid Systems

2019

Lecture Notes in Computer Science

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This paper presents a novel swarm robotics application of chemotaxis behaviour observed in microorganisms. This approach was used to cause exploration robots to return to a work area around the swarm's nest within a boundless environment. We investigate the performance of our algorithm through extensive simulation studies and hardware validation. Results show that the chemotaxis approach is effective for keeping the swarm close to both stationary and moving nests. Performance comparison of these results with the unrealistic case where a boundary wall was used to keep the swarm within a target search area showed that our chemotaxis approach produced competitive results.

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“…Among these studies, the most popular topic is the ant's trail pheromone for foraging and path searching [6], [7]. There are also some other applications and studies of pheromones, such as using repellent pheromone to disperse robots in an large area [8], to distribute robots to carry out a rescue operation [9], to emplace the robots to cover an unknown environment [10] and to implement the robots' aggregation behaviours [11].…”

Section: Introductionmentioning

confidence: 99%

ColCOS Φ: A Multiple Pheromone Communication System for Swarm Robotics and Social Insects Research

Sun

Liu

et al. 2019

2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)

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In the last few decades we have witnessed how the pheromone of social insect has become a rich inspiration source of swarm robotics. By utilising the virtual pheromone in physical swarm robot system to coordinate individuals and realise direct/indirect inter-robot communications like the social insect, stigmergic behaviour has emerged. However, many studies only take one single pheromone into account in solving swarm problems, which is not the case in real insects. In the real social insect world, diverse behaviours, complex collective performances and flexible transition from one state to another are guided by different kinds of pheromones and their interactions. Therefore, whether multiple pheromone based strategy can inspire swarm robotics research, and inversely how the performances of swarm robots controlled by multiple pheromones bring inspirations to explain the social insects' behaviours will become an interesting question. Thus, to provide a reliable system to undertake the multiple pheromone study, in this paper, we specifically proposed and realised a multiple pheromone communication system called ColCOSΦ. This system consists of a virtual pheromone sub-system wherein the multiple pheromone is represented by a colour image displayed on a screen, and the micro-robots platform designed for swarm robotics applications. Two case studies are undertaken to verify the effectiveness of this system: one is the multiple pheromone based on an ant's forage and another is the interactions of aggregation and alarm pheromones. The experimental results demonstrate the feasibility of ColCOSΦ and its great potential in directing swarm robotics and social insects research.This work was supported by EU Horizon 2020 project STEP2DYNA (691154) and ULTRACEPT (778062).

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<tex>$\Phi$</tex> Clust: Pheromone-Based Aggregation for Robotic Swarms

Cited by 28 publications

References 24 publications

Bio-inspired artificial pheromone system for swarm robotics applications

Bio-inspired artificial pheromone system for swarm robotics applications

Biomimetic and Biohybrid Systems

ColCOS Φ: A Multiple Pheromone Communication System for Swarm Robotics and Social Insects Research

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