Conference Paper

The SWARM-BOTS Project.

DOI: 10.1007/978-3-540-30552-1_4 Conference: Swarm Robotics, SAB 2004 International Workshop, Santa Monica, CA, USA, July 17, 2004, Revised Selected Papers
Source: DBLP

ABSTRACT This paper provides an overview of the SWARM-BOTS project, a robotic project sponsored by the Future and Emerging Technologies
program of the European Commission. The paper illustrates the goals of the project, the robot prototype and the 3D simulator
we built. It also reports on the results of experimental work in which distributed adaptive controllers are used to control
a group of real, or simulated, robots so that they perform a variety of tasks which require cooperation and coordination.

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    ABSTRACT: On improving the performance in which the swarm-robot grid formation motion are controlled in a complicated circumstance based on virtual force method, it is used the multiobjective genetic algorithm to optimize control parameters. Performance indexes include collision, break the ranks, connectivity, etc. The weight value of the indexes is determined by their importance. Optimization model is established, the multiobjective genetic algorithm based on Pareto sets is used to search the solution of the problem. Simulation results show that this algorithm is effectively capable of obtaining a set of non-dominated solution within a finite evolutionary generation, which overcomes the weakness of handiwork to set control parameters.
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    ABSTRACT: We examine the ability of a swarm robotic system to transport cooperatively objects of different shapes and sizes. We simulate a group of autonomous mobile robots that can physically connect to each other and to the transported object. Controllers — artificial neural networks — are synthesised by an evolutionary algorithm. They are trained to let the robots self-assemble, that is, organise into collective physical structures, and transport the object towards a target location. We quantify the performance and the behaviour of the group. We show that the group can cope fairly well with objects of different geometries as well as with sudden changes in the target location. Moreover, we show that larger groups, which are made of up to 16 robots, make possible the transport of heavier objects. Finally, we discuss the limitations of the system in terms of task complexity, scalability, and fault tolerance, and point out potential directions for future research.
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    ABSTRACT: In this paper we present an approach to the cooperative transport of multiple objects in swarm robotics. The approach is motivated by the observation that the performance of cooperative transport in insect colonies as well as in groups of robots grows in a super linear way with the number of individuals participating in the transport. The transport relies on a cart in which multiple objects are collected and stored before being moved to destination. The cart is carried by a group of robot that would be otherwise allocated to the transport of single objects. The cart is endowed with computational and communication abilities that allow it to cooperate with the transporting robots. This research is carried out within the framework of the Swarmanoid project and aims at enhancing the transport capabilities of the robot swarms developed in this project.
    09/2008: pages 307-314;

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