Experimental study and modeling of group retrieval in ants as an approach to collective transport in swarm robotic systems

Proceedings of the IEEE

Volumn 99, Issue 9, 2011, Pages 1470-1481

  Berman, Spring ^a   Lindsey, Quentin ^b   Sakar, Mahmut Selman ^c   Kumar, Vijay ^b   Pratt, Stephen C ^d  

^a HARVARD UNIVERSITY   (United States)

^b UNIVERSITY OF PENNSYLVANIA   (United States)

^c Massachusetts Institute of Technology   (United States)

^d ARIZONA STATE UNIVERSITY   (United States)

Author keywords

Biological system modeling; cooperative manipulation; distributed control; multirobot systems

Indexed keywords

BIOLOGICAL SYSTEMS; DISTRIBUTED PARAMETER CONTROL SYSTEMS; HYBRID SYSTEMS; INDUSTRIAL ROBOTS;

BIOLOGICAL SYSTEM MODELING; COLLECTIVE TRANSPORT; COOPERATIVE MANIPULATIONS; DISTRIBUTED CONTROL; HYBRID SYSTEM MODELS; MULTI-ROBOT SYSTEMS; STIFFNESS PROPERTIES; SWARM ROBOTIC SYSTEMS;

SWARM INTELLIGENCE;

EID: 80052034542     PISSN: 00189219     EISSN: None     Source Type: Journal    
DOI: 10.1109/JPROC.2011.2111450     Document Type: Conference Paper

References (60)

1. W. Agassounon and A. Martinoli, "Efficiency and robustness of threshold-based distributed allocation algorithms in multi-agent systems," in Proc. First Int. Joint Conf. Autonomous Agents and Multi-Agent Systems (AAMAS), pp. 1090-1097, 2002. (Pubitemid 34975348)
2. W. Agassounon, A. Martinoli, and K. Easton, "Macroscopic modeling of aggregation experiments using embodied agents in teams of constant and time-varying sizes," Autonomous Robots, Zaragoza, Spain, vol. 17, no. 2-3, pp. 163-191, 2004.
3. C. Agbogba, "Tandem running behavior in two species of ponerine ants: Mesoponera caffraria (Smith) and Hypoponera sp. (Hym. Formicidae)," Insectes Sociaux, vol. 31, no. 3, pp. 264-276, 1984.
4. H. Bai and J. T. Wen, "Motion coordination through cooperative payload transport," in Proc. American Control Conf. (ACC), St. Louis, MO, 2009.
5. R. Baskaran, J. H. Hoo, B. Cheng, and K. Bohringer, "Catalyst enhanced micro scale batch assembly," in Proc. Micro Electro Mechanical Systems (MEMS), 2008, pp. 1069-1072.
6. S. Berman, Á. Halász, M. A. Hsieh, and V. Kumar, "Optimized stochastic policies for task allocation in swarms of robots," IEEE Trans. Robotics, vol. 25, no. 4, pp. 927-937, Aug. 2009.
7. S. Berman, Q. Lindsey,M. S. Sakar, V. Kumar, and S. Pratt, "Study of group food retrieval by ants as a model for multi-robot collective transport strategies," in Proc. Robotics: Science and Systems (RSS), Zaragoza, Spain, 2010.
8. R. Bogue, "Swarm intelligence and robotics," Industrial Robot: An Int. J., vol. 35, no. 6, pp. 488-495, 2008.
9. E. Bonabeau, M. Dorigo, and G. Theraulaz, Swarm Intelligence: From Natural to Artificial Systems. New York: Oxford Univ. Press, 1999.
10. R. Chauvin, "Le transport de proies chez les fourmis. Y-a-t-il entr'aide?" Behaviour, vol. 2, no. 4, pp. 249-256, 1950.
11. R. Chauvin, "Sur le transport collectif des proies par Formica polyctena," Insectes Sociaux, vol. 15, no. 2, pp. 193-200, 1968.
12. R. Chauvin, "Les lois de l'ergonomie chez les fourmis au cours de transport d'objets," Comptes Rendus de l'Academie des Sciences Paris, vol. 273, no. 20, pp. 1862-1865, 1971.
13. P. Cheng, J. Fink, V. Kumar, and J. S. Pang, "Cooperative towing with multiple robots," ASME J. Mech. Robotics, vol. 1, no. 1, 011008, 2009.
14. T. S. Collett and M. Collett, "Path integration in insects," Current Opinion Neurobiol., vol. 10, no. 6, pp. 757-762, 2000. (Pubitemid 32052543)
15. T. S. Collett, P. Graham, and V. Durier, "Route learning by insects," Current Opinion Neurobiol., vol. 13, no. 6, pp. 718-725, 2003. (Pubitemid 37518460)
16. T. J. Czaczkes and F. L. W. Ratnieks, "Simple rules result in the adaptive turning of food items to reduce drag during cooperative food transport in the ant Pheidole oxyops," Insectes Sociaux, vol. 58, no. 1, pp. 91-96, 2011.
17. C. Detrain and J. L. Deneubourg, "Scavenging by Pheidole pallidula: A key for understanding decision-making systems in ants," Animal Behaviour, vol. 53, pp. 537-547, 1997. (Pubitemid 27185837)
18. M. B. Dias, R. M. Zlot, N. Kalra, and A. Stentz, "Market-based multirobot coordination: A survey and analysis," Proc. IEEE, vol. 94, no. 7, pp. 1257-1270, Jul. 2006. (Pubitemid 46432340)
19. J. Fink, N. Michael, and V. Kumar, "Composition of vector fields for multi-robot manipulation via caging," in Proc. Robotics: Science and Systems (RSS), Atlanta, GA, 2007.
20. N. R. Franks, "Teams in social insects: Group retrieval of prey by army ants (Eciton burchelli, Hymenoptera, Formicidae)," Behav. Ecol. Sociobiol., vol. 18, pp. 425-429, 1986.
21. N. R. Franks, A. B. Sendova-Franks, and C. Anderson, "Division of labour within teams of New World and Old World army ants," Animal Behaviour, vol. 62, pp. 635-642, 2001. (Pubitemid 33092116)
22. N. R. Franks, A. B. Sendova-Franks, J. Simmons, and M. Mogie, "Convergent evolution, superefficient teams and tempo in Old and New World army ants," Proc. Royal Soc. B, vol. 266, no. 1429, pp. 1697-1701, 1999.
23. W. H. Gotwald, "Predatory behavior and food preferences of driver ants in selected African habitats," Annals Entomological Soc. Amer., vol. 67, no. 6, pp. 877-886, 1974.
24. B. Hölldobler, "Territorial behavior in the green tree ant (Oecophylla smaragdina)," Biotropica, vol. 15, no. 4, pp. 241-250, 1983.
25. B. Hölldobler, "Communication during foraging and nest-relocation in the African stink ant, Paltothyreus tarsatus Fabr (Hymenoptera, Formicidae, Ponerinae)," Zeitschrift für Tierpsychologie, vol. 65, no. 1, pp. 40-52, 1984.
26. B. Hölldobler, R. C. Stanton, and H. Markl, "Recruitment and food-retrieving behavior in Novomessor (Formicidae, Hymenoptera: I. Chemical signals)," Behav. Ecol. Sociobiol., vol. 4, pp. 163-181, 1978.
27. B. Hölldobler and E. O. Wilson, The Ants. Cambridge, MA: Harvard Univ. Press, 1990.
28. K. Hosokawa, I. Shimoyama, and H. Miura, "Dynamics of self-assembling systems: Analogy with chemical kinetics," Artificial Life, vol. 1, no. 4, pp. 413-427, 1994.
29. O. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, and A. Casal, "Coordination and decentralized cooperation of multiple mobile manipulators," J. Robotic Syst., vol. 13, no. 11, pp. 755-764, 1996. (Pubitemid 126591413)
30. E. Klavins, "Programmable self-assembly," Control Syst. Mag., vol. 24, no. 4, pp. 43-56, 2007. (Pubitemid 47225415)
31. M. J. B. Krieger, J.-B. Billeter, and L. Keller, "Ant-like task allocation and recruitment in cooperative robots," Nature, vol. 406, pp. 992-995, 2000.
32. C. R. Kube and E. Bonabeau, "Cooperative transport by ants and robots," Robotics and Autonomous Systems, vol. 30, pp. 85-101, 2000. (Pubitemid 30546259)
33. V. Kumar and K. Waldron, "Force distribution in closed kinematic chains," IEEE J. Robot. Autom., vol. 4, no. 6, pp. 657-664, Dec. 1988.
34. T. H. Labella, M. Dorigo, and J.-L. Deneubourg, "Division of labor in a group of robots inspired by ants' foraging behavior," ACM Trans. Auton. Adapt. Syst., vol. 1, no. 1, pp. 4-25, 2006. (Pubitemid 44373716)
35. K. Lerman, C. V. Jones, A. Galstyan, and M. J. Mataric, "Analysis of dynamic task allocation in multi-robot systems," Int. J. Robot. Res., vol. 25, no. 4, pp. 225-242, 2006.
36. Q. Lindsey, M. Shomin, and V. Kumar, "Cooperative quasi-static planar manipulation with multiple robots," in ASME IDETC/CIE, pp. 1351-1360, 2010.
37. Y. Liu, S. Arimoto, V. Parra-Vega, and K. Kitagaki, "Decentralized adaptive control of multiple manipulators in co-operations," Int. J. Control, vol. 67, no. 5, pp. 649-673, 1997. (Pubitemid 127571941)
38. T. Lochmatter, P. Roduit, C. Cianci, N. Correll, J. Jacot, and A. Martinoli, "SwisTrackVFlexible open source tracking software for multi-agent systems," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), 2008, pp. 4004-4010.
39. H. Markl and B. Hölldobler, "Recruitment and food-retrieving behavior in Novomessor (Formicidae, Hymenoptera: II. Vibration signals)," Behav. Ecol. Sociobiol., vol. 4, pp. 183-216, 1978.
40. L. Matthey, S. Berman, and V. Kumar, "Stochastic strategies for a swarm robotic assembly system," in Proc. Int. Conf. Robotics and Automation (ICRA), Kobe, Japan, 2009.
41. N. Michael, J. Fink, and V. Kumar, "Experimental testbed for large multirobot teams: Verification and validation," IEEE Robot. Autom. Mag., vol. 15, no. 1, pp. 53-61, Mar. 2008.
42. N. Michael, J. Fink, S. Loizou, and V. Kumar, "Architecture, abstractions, and algorithms for controlling large teams of robots: Experimental testbed and results," in Proc. Int. Symp. Robotics Research (ISRR), Hiroshima, Japan, 2007.
43. M. W. Moffett, "Notes on the behavior of the dimorphic ant, Oligomyrmex overbecki (Hymenoptera: Formicidae)," Psyche, vol. 93, no. 1-2, pp. 107-116, 1986.
44. M. W. Moffett, "Cooperative food transport by an Asiatic ant," Natl. Geographic Res., vol. 4, no. 3, pp. 386-394, 1988.
45. M. W. Moffett, Adventures Among Ants. Berkeley, CA: Univ. of California Press, 2010.
46. G. Montemayor and J. Wen, "Decentralized collaborative load transport by multiple robots," in Proc. Int. Conf. Robotics and Automation (ICRA), 2005, pp. 372-377. (Pubitemid 46083826)
47. M. G. Nielsen, T. F. Jensen, and I. Holm-Jensen, "Effect of load carriage on the respiratory metabolism of running worker ants of Camponotus herculeanus (Formicidae)," Oikos, vol. 39, no. 2, pp. 137-142, 1982. (Pubitemid 13283944)
48. G. A. S. Pereira, V. Kumar, and M. F. M. Campos, "Decentralized algorithms for multi-robot manipulation via caging," Int. J. Robot. Res., vol. 23, pp. 783-795, 2002.
49. S. Powell and N. R. Franks, "Caste evolution and ecology: A special worker for novel prey," in Proc. Royal Soc. B, 2005, vol. 272, no. 1577, pp. 2173-2180. (Pubitemid 41475735)
50. S. C. Pratt, "Recruitment and other communication behavior in the ponerine ant Ectatomma ruidum," Ethology, vol. 81, no. 4, pp. 313-331, 1989.
51. S. K. Robson and J. F. A. Traniello, "Resource assessment, recruitment behavior, and organization of cooperative prey retrieval in the ant Formica schaufussi (Hymenoptera: Formicidae)," J. Insect Behavior, vol. 11, pp. 1-22, 1998. (Pubitemid 28253262)
52. R. G. Simmons, S. Singh, D. Hershberger, J. Ramos, and T. Smith, "First results in the coordination of heterogeneous robots for large-scale assembly," in Proc. Int. Symp. Experimental Robotics (ISER), 2000, pp. 323-332. (Pubitemid 33312568)
53. H. Su and V. Krovi, "Decentralized dynamic control of a nonholonomic mobile manipulator collective: A simulation study," in Proc. ASME Dynamic Systems and Control Conf. (DSCC), Ann Arbor, MI, 2008.
54. J. H. Sudd, "The transport of prey by an ant, Pheidole crassinoda," Behaviour, vol. 16, no. 3, pp. 295-308, 1960.
55. J. H. Sudd, "The transport of prey by ants," Behaviour, vol. 25, pp. 234-271, 1965.
56. D. Sun and J. K. Mills, "Manipulating rigid payloads with multiple robots using compliant grippers," IEEE/ASME Trans. Mechatronics, vol. 7, no. 1, pp. 23-34, Mar. 2002. (Pubitemid 34531584)
57. J. F. A. Traniello, "Social organization and foraging success in Lasius neoniger (Hymenoptera: Formicidae): Behavioral and ecological aspects of recruitment communication," Oecologia, vol. 59, no. 1, pp. 94-100, 1983. (Pubitemid 15274791)
58. J. F. A. Traniello and S. N. Beshers, "Maximization of foraging efficiency and resource defense by group retrieval in the ant Formica schaufussi," Behav. Ecol. Sociobiol., vol. 29, no. 4, pp. 283-289, 1991.
59. J. Werfel and R. Nagpal, "Three-dimensional construction with mobile robots and modular blocks," Int. J. Robot. Res., vol. 27, no. 3-4, pp. 463-479, 2008. (Pubitemid 351322644)
60. S. Yun, M. Schwager, and D. Rus, "Coordinating construction of truss structures using distributed equal-mass partitioning," in Proc. Int. Symp. Robotics Research (ISRR), Lucerne, Switzerland, 2009.