From fireflies to fault-tolerant swarms of robots

IEEE Transactions on Evolutionary Computation

Volumn 13, Issue 4, 2009, Pages 754-766

  Christensen, Anders Lyhne ^a,b   O'Grady, Rehan ^b   Dorigo, Marco ^b  

^a INSTITUTO UNIVERSITÁRIO DE LISBOA ISCTE IUL   (Portugal)

^b UNIVERSITÉ LIBRE DE BRUXELLES   (Belgium)

Author keywords

Fault detection; Self organization; Swarm intelligence; Swarm robotics; Synchronization

Indexed keywords

CATASTROPHIC FAILURES; DECENTRALIZED ALGORITHMS; FAILURE RATE; FAULT-TOLERANT; LIGHTEMITTING DIODE; REAL-WORLD; SELF-ORGANIZATION; SELF-REPAIR; SWARM INTELLIGENCE; SWARM ROBOTIC SYSTEMS; SWARM ROBOTICS;

ALGORITHMS; BIOLUMINESCENCE; CELLULAR AUTOMATA; FAULT DETECTION; FAULT TOLERANCE; FAULT TOLERANT COMPUTER SYSTEMS; LIGHT EMITTING DIODES; QUALITY ASSURANCE; ROBOTICS; SYNCHRONIZATION;

ROBOTS;

EID: 69249232044     PISSN: 1089778X     EISSN: None     Source Type: Journal    
DOI: 10.1109/TEVC.2009.2017516     Document Type: Article

References (48)

1. J. Carlson, R. R. Murphy, and A. Nelson, "Follow-up analysis of mobile robot failures," in Proc. 2004 IEEE Int. Conf. Robotics Automat., Los Alamitos, CA: IEEE Computer Society Press, pp. 4987-4994.
2. S. I. Roumeliotis, G. S. Sukhatme, and G. A. Bekey, "Sensor fault detection and identification in a mobile robot," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., vol. 3. Los Alamitos, CA: IEEE Computer Society Press, 1998, pp. 1383-1388.
3. P. Goel, G. Dedeoglu, S. I. Roumeliotis, and G. S. Sukhatme, "Fault detection and identification in a mobile robot using multiple model estimation and neural network," in Proc. IEEE Int. Conf. Robotics Automat. '00, vol. 3. Los Alamitos, CA: IEEE Computer Society Press, pp. 2302-2309.
4. U. Lerner, R. Parr, D. Koller, and G. Biswas, "Bayesian fault detection and diagnosis in dynamic systems," in Proc. 7th Nat. Conf. Artificial Intell., Cambridge, MA: AAAI Press/The MIT Press, 2000, pp. 531-537.
5. R. Dearden, F. Hutter, R. Simmons, S. Thrun, V. Verma, and T. Willeke, "Real-time fault detection and situational awareness for rovers: Report on the mars technology program task," in Proc. IEEE Aerospace Conf. vol. 2. Los Alamitos, CA: IEEE Computer Society Press, 2004, pp. 826-840.
6. V. Verma, G. Gordon, R. Simmons, and S. Thrun, "Real-time fault diagnosis," IEEE Robot. Automat. Mag., vol. 11, no. 2, pp. 56-66, Jun. 2004.
7. P. Li and V. Kadirkamanathan, "Particle filtering based like lihood ratio approach to fault diagnosis in nonlinear stochastic systems," IEEE Trans. Syst., Man Cybern., Part C, vol. 31, no. 3, pp. 337-343, Mar. 2001.
8. V. Verma and R. Simmons, "Scalable robot fault detection and identification," Robotics Autonomous Syst., vol. 54, no. 2, pp. 184-191, Feb. 2006.
9. R. Canham, A. H. Jackson, and A. Tyrrell, "Robot error detection using an artificial immune system," in Proc. NASA/DoD Conf. Evolvable Hardware, 2003, Washington, D.C. IEEE Computer Society, pp. 199-207.
10. A. L. Christensen, R. O'Grady, M. Birattari, and M. Dorigo, "Fault detection in autonomous robots based on fault injection and learning," Autonomous Robots, vol. 24, no. 1, pp. 49-67, Jan. 2008.
11. Y. U. Cao, A. S. Fukunaga, and A. Kahng, "Cooperative mobile robotics: Antecedents and directions," Autonomous Robots, vol. 4, no. 1, pp. 7-27, Mar. 1997.
12. E. Bonabeau, M. Dorigo, and G. Theraulaz, Swarm Intell.: From Natural to Artificial Syst.. New York: Oxford Univ. Press, 1999.
13. W.-M. Shen, P. Will, A. Galstyan, and C. M. Chuong, "Hormoneinspired self-organization and distributed control of robotic swarms," Autonomous Robots, vol. 17, no. 1, pp. 93-105, Jul. 2004.
14. M. A. Lewis and K. H. Tan. "High precision formation control of mobile robots using virtual structures," Autonomous Robots, vol. 4, no. 4, pp. 387-403, Oct. 1997.
15. A. F. T. Winfeld and J. Nembrini, "Safety in numbers: Fault-tolerance in robot swarms," Int. J. Model., Identificatin Control, vol. 1, no. 1, pp. 30-37, Jan. 2006.
16. A. F. T. Winfeld, C. J. Harper, and J. Nembrini, "Toward dependable swarms and a new discipline of swarm engineering," in Swarm Robotics Workshop: State-of-the-art Survey, Berlin, Germany: Springer Verlag, 2005, pp. 126-142.
17. L. E. Parker, "ALLIANCE: An architecture for fault tolerant multirobot cooperation," IEEE Trans. Robotics Automat., vol. 14, no. 2, pp. 220-240, Apr. 1998.
18. B. P. Gerkey and M. J. Matarić, "Sold!: Auction methods for multirobot coordination," IEEE Trans. Robotics Automat., vol. 18, no. 5, pp. 758-768, Oct. 2002.
19. B. P. Gerkey and M. J. Mataric, "Pusher-watcher: An approach to fault-tolerant tightly coupled robot coordination," in Proc. IEEE Int. Conf. Robotics Automat. '02. Piscataway, NJ: IEEE Press, pp. 464-469.
20. M. B. Dias, M. B. Zinck, R. M. Zlot, and A. Stentz, "Robust multirobot coordination in dynamic environments," in Proc. IEEE Int. Conf. Robotics Automat. '04, vol. 4. Piscataway, NJ: IEEE Press, pp. 3435-3442.
21. F. Mondada, G. C. Pettinaro, A. Guignard, I. V. Kwee, D. Floreano, J.-L. Deneubourg, S. Nol, L. M. Gambardella, and M. Dorigo, "SWARMBOT: A new distributed robotic concept," Autonomous Robots, vol. 17, no. 2-3, pp. 193-221, Sep. 2004.
22. M. Dorigo, V. Trianni, E. Şahin, R. Gross, T. H. Labella, G. Baldassarre, S. Nolfi, J.-L. Deneubourg, F. Mondada, D. Floreano, and L. M. Gambardella, "Evolving self-organizing behaviors for a swarm-bot," Autonomous Robots, vol. 17, no. 2-3 pp. 223-245, 2004.
23. V. Trianni and M. Dorigo, "Self-organization and communication in groups of simulated and physical robots," Biol. Cybern., vol. 95, no. 3, pp. 213-231, Aug. 2006.
24. R. Gross, M. Bonani, F. Mondada, and M. Dorigo, "Autonomous self-assembly in swarm-bots," IEEE Trans. Robotics, vol. 22, no. 6, pp. 1115-1130, Dec. 2006.
25. R. O'Grady, R. Gross F. Mondada, M. Bonani, and M. Dorigo, "Self-assembly on demand in a group of physical autonomous mobile robots navigating rough terrain," in Proc. Adv. Artificial Life: 8th Eur. Conf. ECAL 2005, vol. 3630. Berlin, Germany: Springer Verlag, pp. 272-281.
26. S. Nouyan, A. Campo, and M. Dorigo, "Path formation in a robot swarm: Self-organized strategies to find your way home," Swarm Intell., vol. 2, no. 1, pp. 1-23, Mar. 2008.
27. S. Nouyan, R. Gross, M. Bonani, F. Mondada, and M. Dorigo, "Teamwork in self-organized robot colonies," IEEE Trans. Evol. Comput., vol. 13, no. 4, Aug. 2009.
28. A. L. Christensen, "Efficient neuro-evolution of hole-avoidance and phototaxis for a swarm-bot," Memoire de DEA, Université Libre de Bruxelles, Bruxelles, Belgium, Tech. Rep. TR/IRIDIA/2005-14, 2005.
29. K. Støy, "Using situated communication in distributed autonomous mobile robots," in Proc. 7th Scandinavian Conf. Artificial Intell. Amsterdam, Netherlands: IOS Press, 2001, pp. 44-52.
30. J. McLurkin and J. Smith, "Distributed algorithms for dispersion in indoor environments using a swarm of autonomous mobile robots," in Proc. 7th Int. Symp. Distributed Autonomous Robotic Syst., Berlin, Germany: Springer Verlag, 2004, pp. 399-408.
31. J. Buck, "Synchronous rhythmic flashing of fireflies II," Quart. Rev. Biol., vol. 63, no. 3, pp. 265-289, Sep. 1988.
32. H. M. Smith, "Synchronous flashing of fireflies," Science, vol. 82, no. 2120, pp. 151-152, Aug. 1935.
33. L. Glass, "Synchronization and rhythmic processes in physiology," Nature, vol. 410, no. 6825, pp. 277-284, Mar. 2001.
34. W. A. Snedden, M. D. Greenfield, and Y. Jang, "Mechanisms of selective attention in grasshopper choruses: Who listens to whom?" Behavioral Ecology and Sociobiol., vol. 43, no. 1, pp. 59-66, Jun. 1998.
35. M. K. McClintock, "Menstrual synchrony and suppression," Nature, vol. 229, no. 5282, pp. 244-245, Jan. 1971.
36. Z. Néda, E. Ravasz, Y. Brechet, T. Vicsek, and A. L. Barabasi, "Self-organizing processes: The sound of many hands clapping," Nature, vol. 403, no. 6772, pp. 849-850, Feb. 2000.
37. S. H. Strogatz, "From Kuramoto to Crawford: Exploring the onset of synchronization in populations of coupled oscillators, Physica D, vol. 143, no. 1-4, pp. 1-20, Sep. 2000.
38. E. M. Izhikevich, "Weakly pulse-coupled oscillators, FM interactions, synchronization, and oscillatory associative memory," IEEE Trans. Neural Netw., vol. 10, no. 3, pp. 508-526, May 1999.
39. C. S. Peskin, Mathematical Aspects Heart Physiology. New York: Courant Institute of Mathemaical Sciences, New York Univ., 1975.
40. R. E. Mirollo and S. H. Strogatz, "Synchronization of pulse-coupled biological oscillators," SIAM J. Appl. Math., vol. 50, no. 6, pp. 1645-1662, Dec. 1990.
41. D. Lucarelli and I. J. Wang, "Decentralized synchronization protocols with nearest neighbor communication," in Proc. 2nd Int. Conf. Embedded Networked Sensor Syst., New York: ACM, 2004, pp. 62-68.
42. A. S. Tanenbaum and M. van Steen, Distributed Systems: Principles and Paradigms. Englewood Cliffs, NY: Prentice Hall, 2002.
43. J. Elson and D. Estrin, "Time synchronization for wireless sensor networks," in Proc. 15th Int. Parallel Distributed Process. Symp. Washington, D.C.: IEEE Computer Society, 2001, pp. 1965-1970.
44. O. Babaoglu, T. Binci, M. Jelasity, and A. Montresor, "Firefly- inspired heartbeat synchronization in overlay networks," in Proc. 1st Int. Conf. Self-Adaptive Self-Organizing Syst.'07, Los Alamitos, CA: IEEE Computer Society Press, pp. 77-86.
45. A. Tyrrell and G. Auer, "Imposing a reference timing onto firefly synchronization in wireless networks," in Proc. 65th IEEE Conf. Vehicular Technology VTC 2007," Los Alamitos, CA: IEEE Computer Society Press, pp. 222-226.
46. G. Werner-Allen, G. Tewari, A. Patel, M. Welsh, and R. Nagpal, "Firefly-inspired sensor network synchronicity with realistic radio effects," in Proc. 3rd Int. Conf. Embedded Networked Sensor Systems New York: ACM, 2005, pp. 142-153.
47. A. L. Christensen, R. O'Grady, and M. Dorigo. (2009, Jun. 25). Photos and videos of firefly-inspired synchronization and fault tolerance experiments with robots [Online]. Available: http://iridia.ulb.ac.be/ supp/IridiaSupp2008-003
48. R. Gross, E. Tuci, M. Dorigo, M. Bonani, and F. Mondada, "Object transport by modular robots that self-assemble," in Proc. 2006 IEEE Int. Conf. Robotics Automat., Los Alamtos, CA: IEEE Computer Society Press, pp. 2558-2564.