Theoretical problems for the realization of distributed robotic systems

Beni, G.; Wang, J.

doi:10.1109/robot.1991.131906

Cited by 98 publications

(38 citation statements)

References 14 publications

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“…In most of the work mentioned above, solutions are presented either by simulation or by actual hardware implementation, for either a single-or a multi-robot system. The mathematical analysis of such multiagent systems, however, is still in its very beginning, as has been pointed out in [7] and many other papers. Such an analysis is desired for both proving the correctness of an algorithm and evaluating its performance.…”

Section: A Related Work 1) Robotic Coveringmentioning

confidence: 99%

Distributed covering by ant-robots using evaporating traces

Wagner

Lindenbaum

Bruckstein

1999

IEEE Trans. Robot. Automat.

233

137

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Abstract-Ants and other insects are known to use chemicals called pheromones for various communication and coordination tasks. In this paper, we investigate the ability of a group of robots, that communicate by leaving traces, to perform the task of cleaning the floor of an un-mapped building, or any task that requires the traversal of an unknown region. More specifically, we consider robots which leave chemical odor traces that evaporate with time, and are able to evaluate the strength of smell at every point they reach, with some measurement error. Our abstract model is a decentralized multiagent adaptive system with a shared memory, moving on a graph whose vertices are the floor-tiles. We describe three methods of covering a graph in a distributed fashion, using smell traces that gradually vanish with time, and show that they all result in eventual task completion, two of them in a time polynomial in the number of tiles. As opposed to existing traversal methods (e.g., depth first search), our algorithms are adaptive: they will complete the traversal of the graph even if some of the a(ge)nts die or the graph changes (edges/vertices added or deleted) during the execution, as long as the graph stays connected. Another advantage of our agent interaction processes is the ability of agents to use noisy information at the cost of longer cover time.

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Section: A Related Work 1) Robotic Coveringmentioning

confidence: 99%

Distributed covering by ant-robots using evaporating traces

Wagner

Lindenbaum

Bruckstein

1999

IEEE Trans. Robot. Automat.

233

137

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“…ACO belongs to Swarm Intelligence (SI) methods. The term SI was introduced by G. Beni and J. Wang in relation to cellular robotic systems [2]. E. Bonabeau, M. Dorigo and G. Theraulaz extended the definition of SI, defining this term as any attempt to build an algorithm inspired by the collective behaviour of the colony of insects or other animal communities [3].…”

Section: Introductionmentioning

confidence: 99%

Swarm Intelligence Approach to Safe Ship Control

Lazarowska

2015

Polish Maritime Research

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“…Unfortunately, the mathematical \ geometrical theory of such multi-agents systems is far from being satisfactory, as pointed out in (Beni and Wang, 1991;E.Bonabeau et al, 1999;Efraim and D.Peleg, 2007;Olfati-Saber, 2006) and many other papers.…”

Section: Introductionmentioning

confidence: 99%

COLLABORATIVE EXPLORATION IN GRID DOMAINS - Constructive Conjecture of a Polynomial Time Complexity

Altshuler

Bruckstein

Wagner³

2009

Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics

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Abstract:This work discusses the problem of exploration of an unknown environment using a collaborative group of simple agents. While this problem was known to be of a non-polynomial time complexity, it was speculated in the past that in grid domains the completion time of this problem is much lower (although analytic proofs were not available hitherto). In this work we present a preliminary result concerning a constructive analytic constraint for guaranteeing that the time complexity of this problem in grid domains is indeed polynomial.

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Theoretical problems for the realization of distributed robotic systems

Cited by 98 publications

References 14 publications

Distributed covering by ant-robots using evaporating traces

Distributed covering by ant-robots using evaporating traces

Swarm Intelligence Approach to Safe Ship Control

COLLABORATIVE EXPLORATION IN GRID DOMAINS - Constructive Conjecture of a Polynomial Time Complexity

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