Noise-based underactuated mobile robot inspired by bacterial motion mechanism

Shirai, Kazumichi; Matsumoto, Yoshio; Nakamura, Yutaka; Koizumi, Satoshi; Ishiguro, Hiroshi

doi:10.1109/iros.2009.5354037

Cited by 4 publications

(1 citation statement)

References 8 publications

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“…In order to confirm how noise in the environment can be utilized to reach a gradient source in higher-dimensional space, we built a 1-DOF swimming mobile robot as shown in Figure 2 (Shirai, Matsumoto, Nakamura, Koizumi, & Ishiguro, 2009). A photo diode S7183 (Hamamatsu Photonics K.K.)…”

Section: The 1-dof Robot Experimentsmentioning

confidence: 99%

Bacteria-inspired underactuated mobile robot based on a biological fluctuation

et al. 2012

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Interpretation of the living organism's ability to utilize noise from engineering point of view may be beneficial for realizing a simple, yet adaptive, robotic system. This paper presents a bacteria-inspired mobile robot, with a 1-DOF motor and a single sensor. Even with such limitations, the underactuated mobile robot is able to navigate toward a gradient-inducing goal in a two-dimensional space by properly utilizing environmental noise that directly affects its motion. The way the robot utilizes this external noise to control its navigation behavior is interpreted based on biological fluctuation: a simple perspective commonly used to describe how living beings utilize internally generated biological noises.

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Section: The 1-dof Robot Experimentsmentioning

confidence: 99%

Bacteria-inspired underactuated mobile robot based on a biological fluctuation

et al. 2012

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Stochastic resonance emergence from a minimalistic behavioral rule

Ikemoto

DallaLibera

Ishiguro

2011

Journal of Theoretical Biology

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A Bacterial Chemotaxis-Inspired Coordination Strategy for Coverage and Aggregation of Swarm Robots

Jiang

Tian

2021

Applied Sciences

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Many bio-inspired coordination strategies have been investigated for swarm robots. Bacterial chemotaxis exhibits a certain degree of intelligence, and has been developed some optimization algorithm for robot(s), e.g., bacterial foraging optimization algorithm (BFOA) and bacterial colony chemotaxis optimization algorithm (BCC). This paper proposes a bacterial chemotaxis-inspired coordination strategy (BCCS) of swarm robotic systems for coverage and aggregation. The coverage is the problem of finding a solution to uniformly deploy robots on a given bounded space. To solve this problem, this paper uses chaotic preprocessing to generate the initial positions of the robots. After the initialization, each robot calculates the area only covered by itself as the fitness function value. Then, each robot makes an action, running or rotating, depending on coordination strategy inspired bacterial chemotaxis. Moreover, we extend this solution and introduce a random factor to overcome aggregation, which is to guide robots to rendezvous at an unspecified point. The simulation results demonstrate the superior performance of the proposed coordination strategy in both success rate and an average number of iterations than other controllers.

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Noise-based underactuated mobile robot inspired by bacterial motion mechanism

Cited by 4 publications

References 8 publications

Bacteria-inspired underactuated mobile robot based on a biological fluctuation

Bacteria-inspired underactuated mobile robot based on a biological fluctuation

Stochastic resonance emergence from a minimalistic behavioral rule

A Bacterial Chemotaxis-Inspired Coordination Strategy for Coverage and Aggregation of Swarm Robots

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