Modeling swarm robotic systems: A case study in collaborative distributed manipulation

International Journal of Robotics Research

Volumn 23, Issue 4-5, 2004, Pages 415-436

  Martinoli, Alcherio ^a   Easton, Kjerstin ^b   Agassounon, William ^b  

^a Nonlinear Systems Laboratory   (Switzerland)

^b PHYSICAL SCIENCES INC   (United States)

Author keywords

Distributed control; Microscopic and macroscopic modeling; Swarm intelligence; Swarm robotics

Indexed keywords

COMPUTER SIMULATION; DISTRIBUTED PARAMETER CONTROL SYSTEMS; HEURISTIC METHODS; MAPPING; MATHEMATICAL MODELS; NONLINEAR CONTROL SYSTEMS; STOCHASTIC CONTROL SYSTEMS; TRAJECTORIES;

MULTI-ROBOT SYSTEMS; ROBOT TRAJECTORIES; SWARM INTELLIGENCE; SWARM ROBOTICS;

ROBOTICS;

EID: 2442714971     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/0278364904042197     Document Type: Conference Paper

References (42)

1. Agassounon, W., Martinoli, A., and Goodman, R. M. 2001. A scalable, distributed algorithm for allocating workers in embedded systems. Proceedings of the IEEE Conference on System, Man and Cybernetics SMC-01, Tucson, AR, pp. 3367-3373.
2. Beckers, R., Holland, O. E., and Deneubourg, J.-L. 1994. From local actions to global tasks: stigmergy and collective robotics. Proceedings of the 4th Workshop on Artificial Life, Boston, MA, R. Brooks and P. Maes, editors, MIT Press, Cambridge, MA, pp. 181-189.
3. Beni, G., and Wang, J. 1989. Swarm intelligence. Proceedings of the 7th Annual Meeting of the Robotics Society of Japan, Tokyo, Japan, pp. 425-428.
4. Billard, A., Ijspeert, A. J., and Martinoli, A. 1999. A multi-robot system for adaptive exploration of a fast changing environment: probabilistic modelling and experimental study. Special issue on adaptive robots. Connection Science 11 (3/4):359-379.
5. Bonabeau, E., Dorigo, M., and Theraulaz, G. 1999. Swarm intelligence: from natural to artificial systems. SFI Studies in the Science of Complexity, Oxford University Press, New York.
6. Chauvin, R., and Janin, P. 1975. Facteurs de direction et d'excitation au cours de l'accomplissement d'une tâche chez Formica polyctena. Insectes Sociaux 22:199-206.
7. Das, A. K., Fierro, R., Kumar, V., Ostrowoski, J. P., Spletzer, J., and Taylor, C. J. 2002. A vision-based formation control framework. Special issue on advances in multi-robot systems. IEEE Transactions on Robotics and Automation 18(5):813-825.
8. Easton, K., and Martinoli, A. 2002. Efficiency and optimization of explicit and implicit communication schemes in collaborative robotics experiments. Proceedings of the 2002 IEEE International Conference on Intelligent Robots and Systems IROS-02, Lausanne, Switzerland, pp. 2795-2800.
9. Fredslund, J., and Matarić, M.J. 2002. General algorithm for robot formations using local sensing and minimal communication. Special issue on advances in multi-robot systems. IEEE Transactions on Robotics and Automation 18(5):837-846.
10. Gerkey, B. P. and Matarić, M. J. 2002. Sold!: auction methods for multi-robot coordination. Special issue on advances in multi-robot systems. IEEE Transactions on Robotics and Automation 18(5):758-768.
11. Goldberg, D., and Matarić, M. J. 1999. Mobile robot group coordination using a model of interaction dynamics. Proceedings of the SPIE: Sensor Fusion and Decentralized Control in Robotic Systems II, Boston, MA, pp. 63-73.
12. Grassé, P.-P. 1959. La reconstruction du nid et les coordinations inter-individuelles chez Bellicositermes Natalensis et Cubitermes sp. La théorie de la Stigmergie: essai d'interprétation du comportement des termites constructeurs. Insectes Sociaux 6:41-80.
13. Hayes, A.T. 2002. Self-organized robotic system design and autonomous odor localization. Ph.D. Thesis, Caltech, CA. See also http://www.coro.caltech. edu/People/athayes/athayes.html.
14. Hayes, A. T., Martinoli, A., and Goodman, R. M. 2000. Comparing distributed exploration strategies with simulated and real autonomous robots. Proceedings of the 5th International Symposium on Distributed Autonomous Robotic Systems DARS-00, Knoxville, TN, L.E. Parker, G. Bekey, and J. Bahren, editors, pp. 261-270.
15. Hayes, A. T., Martinoli, A., and Goodman, R. M. 2002. Distributed odor source localization. Special issue on artificial olfaction. IEEE Sensors 2(3):260-271.
16. Hayes, A. T., Martinoli, A., and Goodman, R. M. 2003. Swarm robotic odor localization: off-line optimization and validation with real robots. Special issue on bio-inspired robotics. Robotica 21(4):427-441.
17. Holland, O. E. and Melhuish, C. 1999. Stigmergy, self-organisation, and sorting in collective robotics. Artificial Life 5:173-202.
18. Ijspeert, A. J., Martinoli, A., Billard, A., and Gambardella, L. M. 2001. Collaboration through the exploitation of local interactions in autonomous collective robotics: the stick-pulling experiment. Autonomous Robots 11(2):149-171.
19. Kazadi, S., Abdul-Khaliq, A., and Goodman, R. M. 2002. On the convergence of puck clustering systems. Robotics and Autonomous Systems 38(2):93-117.
20. Kelly, I. D. and Keating, D. A. 1996. Flocking by the fusion of sonar and active infrared sensors on physical autonomous mobile robots. Proceedings of the 3rd Conference on Mechatronics and Machine Vision in Practice, Gaimardes, Portugal, Vol. 1, pp. 1-4.
21. Krieger, M. J. B. and Billeter, J.-B. 2000. The call of duty: self-organized task allocation in a population of up to twelve mobile robots. Robotics and Autonomous Systems 30(1-2):65-84.
22. Kube, C. R. and Bonabeau, E. 2000. Cooperative transport by ants and robots. Robotics and Autonomous Systems 30(1-2):85-101.
23. Lerman, K. and Galstyan, A. 2002. Mathematical model of foraging in a group of robots: effect of interference. Autonomous Robots 13:127-141.
24. Lerman, K., Galstyan, A., Martinoli, A., and Ijspeert, A. J. 2001. A macroscopic analytical model of collaboration in distributed robotic systems. Artificial Life 7(4):375-393.
25. Li, L., Martinoli, A., and Abu-Mostafa, Y. 2002. Emergent specialization in swarm systems. Procedings of the 3rd International Conference on Intelligent Data Engineering and Automated Learning, Manchester, UK, H. Yin et al., editors, Lecture Notes in Computer Science, Vol. 2412, pp. 261-266.
26. Martinoli, A. 1999. Swarm intelligence in autonomous collective robotics: from tools to the analysis and synthesis of distributed control strategies. Ph.D. Thesis No 2069, EPFL, Lausanne, Switzerland. Downloadable at http://www.coro.caltech.edu/People/alcherio/am_pub.html.
27. Martinoli, A. and Easton, K. 2003a. Modeling swarm robotic systems. Proceedings of the 8th International Symposium on Experimental Robotics, July, 2002, Sant' Angelo d'Ischia, Italy, Springer Tracts in Advanced Robotics, pp. 297-306.
28. Martinoli, A., and Easton, K. 2003b. Optimization of swarm robotic systems via macroscopic models. Proceedings of the 2nd International Workshop on Multi-Robots Systems, Washington, DC, A. C. Schultz, L. E. Parker, and F. E. Schneider, editors, pp. 181-192.
29. Martinoli, A., and Mondada, F. 1995. Collective and cooperative group behaviours: biologically inspired experiments in robotics. Proceedings of the 4th International Symposium on Experimental Robotics, Stanford, CA, O. Khatib and J.K. Salisbury, editors, Lecture Notes in Control and Information Sciences, pp. 3-10.
30. Martinoli, A., Ijspeert, A. J., and Gambardella, L. M. 1999. A probabilistic model for understanding and comparing collective aggregation mechanisms. Proceedings of the 5th European Conference on Artificial Life, Lausanne, Switzerland, D. Floreano, F. Mondada, and J.-D. Nicoud, editors, Lectures Notes in Computer Science, pp. 575-584.
31. Martinoli, A., Ijspeert, A. J., and Mondada, F. 1999. Understanding collective aggregation mechanisms: from probabilistic modelling to experiments with real robots. Robotics and Autonomous Systems 29:51-63.
32. Martinoli, A., Theraulaz, G., and Deneubourg, J.-L. 2002. Quand les robots imitent la nature. La Recherche 358:56-62.
33. Matarić, M. J. 1994. Interaction and intelligent behavior. Ph.D. Thesis, Department of Electrical Engineering and Computer Science, MIT, Cambridge, MA.
34. Michel, O. 1998. Webots: symbiosis between virtual and real mobile robots. Proceedings of the 1st International Conference on Virtual Worlds, Paris, France, J.-C. Heuding, editor, Springer-Verlag, Berlin, pp. 254-263. See also http://www.cyberbotics.com/products/webots/index.html.
35. Mondada, F., Franzi, E., and Ienne, P. 1993. Mobile robot miniaturization: a tool for investigation in control algorithms. Proceedings of the 3rd International Symposium on Experimental Robotics, Kyoto, Japan, T. Yoshikawa and F. Miyazaki, editors, Lecture Notes in Control and Information Sciences, Springer-Verlag, Berlin, pp. 501-513.
36. Parker, L. E. 2000. Lifelong adaptation in heterogeneous multi-robot teams: response to continual variation in individual robot performance. Autonomous Robots 8:239-267.
37. Parrish, J. K., and Hamner, W. M. 1997. Animal Groups in Three Dimensions, Cambridge University Press, Cambridge.
38. Sugawara, K., and Sano, M. 1997. Cooperative acceleration of task performance: foraging behavior of interacting multi-robot system. Physica D 100:343-354.
39. Sugawara, K., Sano, M., Yoshihara, I., and Abe, K. 1998. Cooperative behavior of interacting robots. Artificial Life and Robotics 2:62-67.
40. Weigel, T., Gutmann, J.-S., Dietl, M., Kleiner, A., and Nebel, B. 2002. CS Freiburg: coordinating robots for successful soccer playing. Special issue on advances in multi-robot systems. IEEE Transactions on Robotics and Automation 18(5):685-699.
41. Yamauchi, B. 1999. Decentralized coordination for multi-robot exploration. Robotics and Autonomous Systems 29(1):111-118.
42. Zhang, Y., Martinoli, A., and Antonsson, E. K. 2003. Evolutionary design of a collective sensory system. Proceedings of the AAAI Spring Symposium Series on Computational Synthesis, Stanford, CA, H. Lipson, E. K. Antonsson, and J. R. Koza, editors, pp. 283-290.