IEEE Organizations related to Swarm Robotics

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Most published Xplore authors for Swarm Robotics

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Xplore Articles related to Swarm Robotics

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Research on Self-Organizing Target Hunting for Mobile Robot Group

2018 IEEE 4th International Conference on Control Science and Systems Engineering (ICCSSE), 2018

Aiming at the formation of aggregation behavior model of swarm robots, a self- organizing motion model based on particle system mechanics and perceptual state weighting is established to realize the autonomous transfer of robot motion state. Using the selected model, the self-organizing aggregation behavior simulation experiments are conducted for two cases with boundary constraints and no boundary constraints. The maximum ...


Leaders and Followers: A Design Pattern for Second-Order Emergence

2019 IEEE 4th International Workshops on Foundations and Applications of Self* Systems (FAS*W), 2019

first-order emergence also referred to as swarm mode, is well studied, while higher-order levels of emergent behaviour have not received much attention yet. Second-order emergent behaviour arises from the interactions of individuals, which are themselves the result of first-order emergent behaviour. Design patterns for modelling the first-order emergence are well studied and identified, such as gradient, repulsion or ant foraging, ...


Energy Efficient Communication with Lossless Data Encoding for Swarm Robot Coordination

2019 32nd International Conference on VLSI Design and 2019 18th International Conference on Embedded Systems (VLSID), 2019

Energy efficient communication is a key aspect of swarm-robot systems working collaboratively towards accomplishing complex missions. We propose a coding scheme inspired by Huffman encoding for lossless data compression, optimized for swarm robot communication. In this approach, the perception information on each robot/agent is encoded with known values based on which the algorithm is optimized. The proposed method is implemented ...


A method for decreasing negative effects of the robots close to their targets

2019 Chinese Control And Decision Conference (CCDC), 2019

An improved artificial moment method is proposed for decreasing the negative effects of the robots close to their targets. In the method, a new algorithm is presented for the key companion of a robot close to its target. The algorithm will not make the robot change its key companion frequently and select the same robot as its key companion for ...


Pheromone Inspired with Directional Variable on Underwater Robot Swarm

2019 Chinese Control And Decision Conference (CCDC), 2019

This paper presents a method to organize a swarm of underwater robots to search for targets. Considering the communication constraints in underwater environment, robots in the swarm are organized through in-direct communication, inspired by the phenomenon that social insects exchange information with pheromone. In the method, the area of interest is modeled as a matrix by scattering the area into ...


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Educational Resources on Swarm Robotics

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IEEE-USA E-Books

  • Research on Self-Organizing Target Hunting for Mobile Robot Group

    Aiming at the formation of aggregation behavior model of swarm robots, a self- organizing motion model based on particle system mechanics and perceptual state weighting is established to realize the autonomous transfer of robot motion state. Using the selected model, the self-organizing aggregation behavior simulation experiments are conducted for two cases with boundary constraints and no boundary constraints. The maximum coverage of different groups of scale is realized, and the correctness of the trap model is verified by the target hunting test of the group robot with random position.

  • Leaders and Followers: A Design Pattern for Second-Order Emergence

    first-order emergence also referred to as swarm mode, is well studied, while higher-order levels of emergent behaviour have not received much attention yet. Second-order emergent behaviour arises from the interactions of individuals, which are themselves the result of first-order emergent behaviour. Design patterns for modelling the first-order emergence are well studied and identified, such as gradient, repulsion or ant foraging, there are no available design patterns for the second-or higher-order emergence. We provided an agent-based model of the social amoeba Dictyostelium discoideum; by modelling individual agents behaviour, we reproduce the second-order emergent behaviour of D. discoideum. Through this work, we identified a new design pattern, that we called "Leaders and Followers", for engineering second-order emergent behaviour in artificial systems.

  • Energy Efficient Communication with Lossless Data Encoding for Swarm Robot Coordination

    Energy efficient communication is a key aspect of swarm-robot systems working collaboratively towards accomplishing complex missions. We propose a coding scheme inspired by Huffman encoding for lossless data compression, optimized for swarm robot communication. In this approach, the perception information on each robot/agent is encoded with known values based on which the algorithm is optimized. The proposed method is implemented and tested on the Edison platform with custom robot chassis. UWB (Ultra-Wide Band) based communication technology is integrated on this platform for enabling robot-to-robot communication. Experiments performed using the proposed approach on this platform demonstrate ~46% reduction in power dissipation compared to normal data exchange.

  • A method for decreasing negative effects of the robots close to their targets

    An improved artificial moment method is proposed for decreasing the negative effects of the robots close to their targets. In the method, a new algorithm is presented for the key companion of a robot close to its target. The algorithm will not make the robot change its key companion frequently and select the same robot as its key companion for a long duration. Second, two new algorithms are presented respectively for attractive points and attractive angles of robots. As such, a robot can decrease its negative effects on others. Finally, the existing artificial moment motion controller is improved. Simulation results indicate that the proposed method can decrease the negative effects in the system and yield better solutions in complex situations.

  • Pheromone Inspired with Directional Variable on Underwater Robot Swarm

    This paper presents a method to organize a swarm of underwater robots to search for targets. Considering the communication constraints in underwater environment, robots in the swarm are organized through in-direct communication, inspired by the phenomenon that social insects exchange information with pheromone. In the method, the area of interest is modeled as a matrix by scattering the area into a set of grids. The elements of the matrix represent the pheromone density of each grid. A set of behavior laws are then defined so that each robot can make decision based on the pheromone matrix. By adding a directional variable into the behavior laws can improve efficiency. The effectiveness of the method has been verified with simulation results.

  • 14.1 A 65nm 1.1-to-9.1TOPS/W Hybrid-Digital-Mixed-Signal Computing Platform for Accelerating Model-Based and Model-Free Swarm Robotics

    Artificial swarm intelligence, inspired by biological studies of insects, ants and other organisms, present an emerging computing paradigm, where seemingly simple elements interact with each other to collectively solve challenging problems. In particular, swarm robotics, where multiple robots co-ordinate in real-time to solve diverse problems such as pattern-formation, cooperative reinforcement learning (RL), path-planning etc. [1], find extensive uses in exploration, reconnaissance and disaster relief. This is partly motivated by the robustness of swarm dynamics to failures and malfunctions of individual robots. Successful hardware demonstrations of neuro-inspired algorithms on edge-devices [2]-[6] is now leading to the emergence of intelligence and control in swarms as the next frontier. Although certain swarm algorithms rely on real-time learning (e.g., cooperative RL) representing a model-free approach, many powerful algorithms that have been developed over the past two decades (e.g., pattern formation) rely on a mathematical structure and represent a more traditional model-based approach. The next generation of swarm hardware needs to support both of these approaches. In this paper, we identify the commonalities and shared compute primitives across a variety of model-based and model-free swarm algorithms and present a unified, fully- programmable, energy-efficient and scalable platform capable of real-time swarm intelligence.

  • A Gamification Concept for Teaching Swarm Robotics

    The following topics are dealt with: educational courses; computer aided instruction; computer science education; embedded systems; electronic engineering education; mobile robots; teaching; hardware description languages; educational institutions; integrated circuit design.

  • Improved Artificial Moment Method for Path Planning of Swarm Robots

    An Artificial Moment Method with Decreasing Negative Effects and Keeping Sensing Obstacles (AMM-DNE-KSO) is proposed for the path planning of swarm robots in complex situations. First, a new algorithm is presented for the key companion of a robot close to its target. The algorithm will not make the robot change its key companion frequently and select the same robot as its key companion for a long duration. Second, two new algorithms are presented respectively for attractive points and attractive angles of robots. As such, a robot can decrease its negative effects on others and is easier to keep important obstacles within sensing range. Finally, the existing artificial moment motion controller is improved. Simulation results indicate that the method is helpful for robots to keep sensing important obstacles, and can decrease the negative effects in the system and yield better solutions in complex situations.

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

    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 ColCOS $\Phi$. 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 ColCOS $\Phi$ and its great potential in directing swarm robotics and social insects research.

  • Urban Swarms: A new approach for autonomous waste management

    Modern cities are growing ecosystems that face new challenges due to the increasing population demands. One of the many problems they face nowadays is waste management, which has become a pressing issue requiring new solutions. Swarm robotics systems have been attracting an increasing amount of attention in the past years and they are expected to become one of the main driving factors for innovation in the field of robotics. The research presented in this paper explores the feasibility of a swarm robotics system in an urban environment. By using bio-inspired foraging methods such as multi-place foraging and stigmergy-based navigation, a swarm of robots is able to improve the efficiency and autonomy of the urban waste management system in a realistic scenario. To achieve this, a diverse set of simulation experiments was conducted using real-world GIS data and implementing different garbage collection scenarios driven by robot swarms. Results presented in this research show that the proposed system outperforms current approaches. Moreover, results not only show the efficiency of our solution, but also give insights about how to design and customize these systems.



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