Distributed adaptive swarm for obstacle avoidance

International Journal of Intelligent Computing and Cybernetics

Volumn 2, Issue 4, 2009, Pages 644-671

  Hettiarachchi, Suranga ^a   Spears, William M ^b  

^a INDIANA UNIVERSITY SOUTHEAST   (United States)

^b Swarmotics LLC   (United States)

Author keywords

Adaptive system theory; Control technology; Programming and algorithm theory; Robotics

Indexed keywords

ADAPTIVE APPROACH; ADAPTIVE LEARNING; BEHAVIORAL RULES; CHANGING ENVIRONMENT; CONTROL TECHNOLOGIES; DESIGN/METHODOLOGY/APPROACH; DISTRIBUTED AGENTS; DYNAMIC ADAPTATIONS; EVOLUTIONARY LEARNING; FITNESS FUNCTIONS; LENNARD JONES; LOCAL MINIMUMS; METRICS OF PERFORMANCE; OBSTACLE AVOIDANCE; OBSTACLE DENSITIES; OFF-LINE LEARNING; OFFLINE; ONLINE LEARNING; PHYSICOMIMETICS; POPULATION GENETICS; PROGRAMMING AND ALGORITHM THEORY; REAL TIME; REAL-WORLD; ROBUST ADAPTIVE; RULE SET; THREE COMPONENT; WALL FOLLOWING;

ADAPTIVE ALGORITHMS; ADAPTIVE CONTROL SYSTEMS; CYBERNETICS; E-LEARNING; EDUCATION; EVOLUTIONARY ALGORITHMS; FUNCTION EVALUATION; INTERNET; ROBOT PROGRAMMING; ROBOTICS; ROBOTS; SYSTEM THEORY; TRACKING (POSITION);

LEARNING ALGORITHMS;

EID: 77955455070     PISSN: 1756378X     EISSN: 17563798     Source Type: Journal    
DOI: 10.1108/17563780911005827     Document Type: Article

References (34)

1. Balch, T. and Arkin, R. (1998), "Behavior-based formation control for multi-robot teams" in IEEE Transactions on Robotics and Automation, Vol. 14, pp. 1-15.
2. Balch, T. and Hybinette, M. (2000), "Social potentials for scalable multi-robot formations" in Proceedings of the IEEE International Conference on Robotics and Automation, April, San Francisco, Vol. 1, pp. 73-80.
3. Crawford, E. and Veloso, M. (2005), "Learning to select negotiation strategies in multi-agent meeting scheduling", paper presented in the working notes of the Multiagent Learning Workshop, AAAI.
4. Fredslund, J. and Matarić, M. (2002), "A general algorithm for robot formations using local sensing and minimal communication" in IEEE Transactions on Robotics and Automation, Vol. 18, pp. 837-46.
5. Goldman, C.V. and Zilberstein, S. (2003), "Optimizing information exchange in cooperative multi-agent systems" in Proceedings of the 2nd International Joint Conference on Autonomous Agents and Multiagent Systems, Melbourne, Australia, pp. 137-44.
6. Grefenstette, J. (1988), "Credit assignment in rule discovery systems based on genetic algorithms" in Machine Learning Journal, Vol. 3, pp. 225-45.
7. Grefenstette, J. (1989), "A system for learning control strategies with genetic algorithms" in Proceedings of the 3rd International Conference on Genetic Algorithms, Morgan Kaufmann, San Francisco, CA, pp. 183-90.
8. Haeck, N. (2002), "Minimum distance between a point and a line", available at: www.simdesign.nl/tips/tip001.html.
9. Hettiarachchi, S. (2007), "Distributed evolution for swarm robotics", Department of Computer Science, University of Wyoming, Laramie, WY.
10. Hettiarachchi, S. and Spears, W. (2005), "Moving swarm formations through obstacle fields" in International Conference on Artificial Intelligence, Vol. 1, CSREA Press, Las Vegas, NV, pp. 97-103.
11. Hettiarachchi, S. and Spears, W. (2006), "DAEDALUS for agents with obstructed perception" in Proceedings of the 2006 IEEE Mountain Workshop on Adaptive and Learning Systems, IEEE Press, Logan, UT, pp. 195-200.
12. Hettiarachchi, S., Spears, W., Green, D. and Kerr, W. (2006), "Distributed agent evolution with dynamic adaptation to local unexpected scenarios" in Proceedings of the 2005 Second GSFC/IEEE Workshop on Radical Agent Concepts, Vol. 3825, Springer, Berlin, pp. 245-56.
13. Kerr, W., Spears, D., Spears, W. and Thayer, D. (2005), "Two formal gas models for multiagent sweeping and obstacle avoidance" in Vol. 3228, Springer, Berlin, pp. 111-30, Lecture Notes in Artificial Intelligence.
14. Kira, Z. and Schultz, A.C. (2006), "Continuous and embedded learning for multi-agent systems" in IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE Press, Piscataway, NJ, pp. 3184-90.
15. O'Hara, K.J., Bigio, V.L., Dodson, E.R., Irani, A., Walker, D.B. and Balch, T.R. (2005), "Physical path planning using the GNATs" in Proceedings of the IEEE International Conference on Robotics and Automation, IEEE Press, Piscataway, NJ, pp. 709-14.
16. Spears, W. (1994), "Simple subpopulation schemes" in Proceedings of the Evolutionary Programming Conference, World Scientific, River Edge, NJ, pp. 296-307.
17. Spears, W. and Spears, D. (1999), "Using artificial physics to control agents" in Proceedings of the IEEE International Conference on Information, Intelligence, and Systems, IEEE Press, Piscataway, NJ, pp. 281-8.
18. Spears, W., Spears, D., Heil, R., Kerr, W. and Hettiarachchi, S. (2005), "An overview of physicomimetics" in Şahin, E. and Spears, W. (Eds.), Vol. 3342, Springer, Berlin, pp. 84-97, Lecture Notes in Computer Science State-of-the-Art Series.
19. Watson, R., Ficici, S. and Pollack, J. (2002), "Embodied evolution: distributing an evolutionary algorithm in a population of robots" in Robotics and Autonomous Systems, Vol. 39, pp. 1-18.
20. Wu, A., Schultz, A. and Agah, A. (1999), "Evolving control for distributed micro air vehicles" in Proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation, IEEE Press, Piscataway, NJ, pp. 174-9.
21. Bonabeau, E., Dorigo, M. and Theraulaz, G. (1999), "Swarm intelligence: from natural to artificial systems", Santa Fe Institute Studies in the Sciences of Complexity, Oxford University Press, New York, NY.
22. Desai, J., Ostrowski, J. and Kumar, V. (1998), "Controlling formations of multiple mobile robots" in Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 4, IEEE Press, Piscataway, NJ, pp. 2864-9.
23. Desai, J., Ostrowski, J. and Kumar, V. (2001), "Modeling and control of formations of nonholonomic mobile robots" in IEEE Transactions on Robotics and Automation, Vol. 17, pp. 905-8.
24. Fax, J. and Murray, R. (2002), "Information flow and cooperative control of vehicle formations" in IEEE Transactions on Automatic Control, Vol. 49, pp. 1465-76.
25. Hayes, A., Martinoli, A. and Goodman, R. (2001), "Swarm robotic odor localization" in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2001), Vol. 21, IEEE Press, Piscataway, NJ, pp. 427-41.
26. Howard, A., Matarić, M. and Sukhatme, G. (2002), "Mobile sensor network deployment using potential fields: a distributed, scalable solution to the area coverage problem" in Proceedings of the 6th International Symposium on Distributed Autonomous Robotics Systems (DARS02), June 25-27, Fukuoka, Japan, pp. 299-308.
27. Khatib, O. (1986), "Real-time obstacle avoidance for manipulators and mobile robots" in International Journal of Robotics Research, Vol. 5, No. 1, pp. 90-8.
28. Reif, J. and Wang, H. (1998), "Social potential fields: a distributed behavioral control for autonomous robots" in Workshop on the Algorithmic Foundations of Robotics, pp. 431-59.
29. Schoenwald, D., Feddema, J. and Oppel, F. (2001), "Decentralized control of a collective of autonomous robotic vehicles" in American Control Conference, Arlington, VA, pp. 2087-92.
30. Schultz, A. and Parker, L. (2002), "Multi-robot systems: from swarms to intelligent automata" in Proceedings of the 1st International Workshop on Multi-robot Systems, Washington, DC, pp. 73-82.
31. Spears, W., Heil, R., Spears, D. and Zarzhitsky, D. (2004), "Physicomimetics for mobile robot formations" in Proceedings of the Third International Joint Conference on Autonomous Agents and Multi Agent Systems, IEEE Press, Piscataway, NJ, pp. 1528-9.
32. Spears, W., Spears, D., Hamann, J. and Heil, R. (2005), "Distributed, physics-based control of swarm of vehicles" in Autonomous Robots, Vol. 17, pp. 137-64.
33. Spears, W., Hamann, J., Maxim, P., Kunkel, T., Heil, R., Zarzhitsky, D., Spears, D. and Karlsson, C. (2006), "Where are you?" in Şahin, E. and Spears, W. (Eds.), Swarm Robotics, Vol. 4433, Springer, Berlin, pp. 129-43, Lecture Notes in Computer Science.
34. Vail, D. and Veloso, M. (2003), "Multi-robot dynamic role assignment and coordination through shared potential fields" in Schultz, A., Parker, L. and Schneider, F. (Eds.), Multi-Robot Systems, Kluwer, Dordrecht, pp. 87-98.