Performance evaluation of a multi-robot search & retrieval system: Experiences with MinDART

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 52, Issue 3-4, 2008, Pages 363-387

  Rybski, Paul E ^a   Larson, Amy ^a   Veeraraghavan, Harini ^a   Anderson, Monica ^a   Gini, Maria ^a  

^a University of Minnesota   (United States)

Author keywords

MinDART; Multi robot systems; Performance evaluation; Search and retrieval

Indexed keywords

AUTOMATION; CHLORINE COMPOUNDS; KETONES; ROBOTICS; VIRTUAL REALITY;

APPLICATION DOMAINS; CONTROL STRATEGIES; ENVIRONMENTAL FACTORS; INDIRECT COMMUNICATION; MINDART; MINNESOTA; MULTI-ROBOT SEARCH; MULTI-ROBOT SYSTEMS; PERFORMANCE EVALUATION; PHYSICAL ROBOTS; ROBOT TEAMS; SEARCH AND RETRIEVAL; TASK COMPLETION TIME; TASK PERFORMANCES;

ROBOTS;

EID: 49649110337     PISSN: 09210296     EISSN: 15730409     Source Type: Journal    
DOI: 10.1007/s10846-008-9222-9     Document Type: Article

References (41)

1. Anderson, C.: Self-organization in relation to several similar concepts: are the boundaries to self-organization indistinct? Biol. Bull. 202, 247-255 (2002) (June)
2. Arkin, R.C.: Motor schema-based robot navigation. Int. J. Rob. Res. 8(4), 92-112 (1989) (August)
3. Arkin, R.C.: Cooperation without communication: multi-agent schema based robot navigation. J. Robot. Syst. 9(3), 351-364 (1992) (April)
4. Arkin, R.C., Bekey, G.A. (eds.): Robot Colonies. Kluwer Academic Publishers, Boston, MA (1997)
5. Balch, T.: Hierarchical social entropy: an information theoretic measure of robot group diversity. Auton. Robots 8, 209-237 (2000)
6. Balch, T., Arkin, R.C.: Communication in reactive multiagent robotic systems. Auton. Robots 1(1), 27-52 (1995)
7. Bayindir, L., Sahin, E.: A review of studies in swarm robotics. Turk. J. Elec. Eng. 15(2), 115-147 (2007)
8. Beckers, R., Holland, O.E., Deneubourg, J.L.: From local actions to global tasks: stigmergy in collective robotics. In: Brooks, R., Maes, P. (eds.) Artificial Life IV, pp. 181-189. MIT Press, Cambridge, MA (1994)
9. Bonabeau, E., Dorigo, M., Theraulaz, G.: Swarm Intelligence: from Natural to Artificial Systems. Oxford University Press, Oxford (1999)
10. Brooks, R.A.: A robust layered control system for a mobile robot. IEEE J. Robot. Autom. RA-2(1), 14-23 (1986) (March)
11. Drogoul, A., Ferber, J.: From tom thumb to the dockers: some experiments with foraging robots. In: From Animals to Animats. Proc. Int'l Conf. on Simulation of Adaptive Behavior, pp. 451-459. MIT Press, Cambridge, MA (1992)
12. Dudek, G., Jenkin, M., Milios, E., Wilkes, D.: A taxonomy for multi-agent robotics. Auton. Robots 3, 375-397 (1996)
13. Easton, K., Martinoli, A.: Efficiency and optimization of explicit and implicit communication schemes in collaborative robotics experiments. In: Proc. IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems, pp. 2795-2800. IEEE, Lausanne (2002)
14. Fukuda, T., Funato, D., Sekiyam, K., Arai, F.: Evaluation on flexibility of swarm intelligent system. In: Proc. of the IEEE Int'l Conf. on Robotics and Automation, pp. 3210-3215. IEEE, Piscataway (1998)
15. Goldberg, D., Matarić, M.J.: Design and evaluation of robust behavior-based controllers. In: Balch, T., Parker, L.E. (eds.) Robot Teams: From Diversity to Polymorphism. A K Peters Ltd, Natick, MA (2002) (April)
16. Grassé, P.P.: La reconstruction du nid et les coordinations interindividuelles chez bellicositermes natalensis et cubitermes sp. la theorie de la stigmergie: essai d'interpretation des termites constructeurs. Ins. Soc. 6, 41-83 (1959)
17. Hamann, H., Worn, H.: An analytical and spatial model of foraging in a swarm of robots. In: Sahin, E., Spears, W.M., Winfield, A.F.T. (eds.) Swarm Robotics. Lecture Notes in Computer Science, vol. 4433, pp. 43-55. Springer, New York (2006)
18. Hayes, A.T.: How many robots? group size and efficiency in collective search tasks. In: Proc. Int'l Symp. on Distributed Autonomous Robotic Systems, pp. 289-298. Springer, Berlin (2002) (June)
19. Holland, O., Melhuish, C.: Stigmergy, self-organisation, and sorting in collective robotics. Artif. Life 5, 173-202 (2000)
20. Hölldobler, B., Wilson, E.O.: The multiple recruitment systems of the african weaver ant oecophylla longinoda (latreille). Behav. Ecol. Sociobiol. 3, 19-60 (1978)
21. Hougen, D.F., Rybski, P.E., Gini, M.: Repeatability of real world training experiments: a case study. Auton. Robots 6(2), 281-292 (1998)
22. Labella, T.H.: Prey retrieval by a swarm of robots. Technical report, TR/IRIDIA/2003-16, IRIDIA, Université Libre de Bruxelles, DEA thesis (2003) (May)
23. Lambrinos, D., Möller, R., Labhart, T., Pfeifer, R., Wehner, R.: A mobile robot employing insect strategies for navigation. Robot. Auton. Syst. 30, 39-64 (2000)
24. Martin, F.G.: The Handy Board Technical Reference. MIT Media Laboratory, Cambridge, MA (1998)
25. McLurkin, J., Yamins, D.: Dynamic task assignment in robot swarms. In: Robotics: Science and Systems Conference. Cambridge, MA (2005) (June)
26. Nguyen, T.N., O'Donnell, C., Nguyen, T.B.: Multiple autonomous robots for uxo clearance, the basic uxo gathering system (bugs) project. In: Schultz, A.C., Parker, L.E. (eds.) Multi-Robot Systems: from Swarms to Intelligent Automata, pp. 53-61. Kluwer Academic, Boston, MA (2002)
27. Rowe, A., Rosenberg, C., Nourbakhsh, I.: A low cost embedded color vision system. In: Proc. IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems. IEEE, Lausanne (2002)
28. Rybski, P., Larson, A., Veeraraghavan, H., LaPoint, M., Gini, M.: Communication strategies in multi-robot search and retrieval: experiences with MinDART. In: Proc. Int'l Symp. on Distributed Autonomous Robotic Systems, pp. 317-326, Toulouse, 23-25 June 2004
29. Rybski, P.E., Stoeter, S.A., Gini, M., Hougen, D.F., Papanikolopoulos, N.: Performance of a distributed robotic system using shared communications channels. IEEE Trans. Robot. Autom. 22(5), 713-727 (2002) (October)
30. Rybski, P.E., Larson, A., Schoolcraft, A., Osentoski, S., Gini, M.: Evaluation of control strategies for multi-robot search and retrieval. In: Proc. Int'l Conf. on Intelligent Autonomous Systems, pp. 281-288. Marina Del Rey, CA (2002) (March)
31. Seeley, T.D.: The honeybee colony as a superorganism. Am. Sci. 77, 546-553 (1989)
32. Seth, A.K.: Unorthodox optimal foraging theory. In: From Animals to Animats. Proc. Int'l Conf. on Simulation of Adaptive Behavior, pp. 478-481. MIT Press, Cambridge, MA (2000)
33. Sharkey, A.J.C.: Swarm robotics and minimalism. Connect. Sci. 19(3), 245-260 (2007) (September)
34. Sugawara, K., Sano, M.: Cooperative acceleration of task performance: foraging behavior of interacting multi-robots system. Physica D100, 343-354 (1997)
35. Sugawara, K., Watanabe, T.: Swarming robots-foraging behavior of simple multi-robot systems. In: Proc. IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems. IEEE, Lausanne (2002)
36. Sugawara, K., Yoshihara, I., Abe, K.: A scaling law between the number of multirobots and their task performance. In: Artificial Life and Robotics, vol. 3, pp. 122-126. Springer, Tokyo (1999)
37. Weber, K., Venkatesh, S., Srinivasan, M.: Insect-inspired robotic homing. Adapt. Behav. 7(1), 65-97 (1999)
38. Werfel, J., Nagpal, R.: Extended stigmergy in collective construction. IEEE Intel. Syst. 21(2), 20-28 (2006)
39. Winfield, A.F.T., Nembrini, J.: Safety in numbers: fault-tolerance in robot swarms. Int. J. Model. Identif. Cont. 1(1), 30-37 (2006)
40. Wright, A., Sargent, R., Witty, C.: Interactive C User's Guide. Newton Research Labs, Cambridge, MA (1996)
41. Zhang, D., Xie, G., Yu, J., Wang, L.: Adaptive task assignment for multiple mobile robots via swarm intelligence approach. Robot. Auton. Syst. 55(7), 572-588 (2007)