A Bio-Inspired Algorithm for Autonomous Task Coordination of Multiple Mobile Robots †
Abstract
:1. Introduction
2. Proposed Bioinspired Algorithm
2.1. Node Path Representation
Algorithm 1: Pseudocode for node initialization |
Data: |
2.2. Area Capture
3. Simulation Results
4. Conclusions
Author Contributions
Funding
Conflicts of Interest
References
- Ravankar, A.; Ravankar, A.; Kobayashi, Y.; Emaru, T. Hitchhiking Robots: A Collaborative Approach for Efficient Multi-Robot Navigation in Indoor Environments. Sensors 2017, 17, 1878. [Google Scholar] [CrossRef] [PubMed]
- Ravankar, A.; Ravankar, A.; Kobayashi, Y.; Hoshino, Y.; Peng, C.C.; Watanabe, M. Hitchhiking Based Symbiotic Multi-Robot Navigation in Sensor Networks. Robotics 2018, 7, 37. [Google Scholar] [CrossRef]
- Karlson, P.; Luscher, M. ‘Pheromones’: A New Term for a Class of Biologically Active Substances. Nature 1959, 183, 55–56. [Google Scholar] [CrossRef] [PubMed]
- Meer, R.K.V.; Breed, M.D.; Espelie, K.E.; Winston, M.L. Pheromone Communication in Social Insects: Ants, Wasps, Bees, and Termites; Westview Press: Boulder, CO, USA, 1998. [Google Scholar]
- Touhara, K. Pheromone Signaling Methods and Protocols; Humana Press: New York, NY, USA, 2013. [Google Scholar]
- Mohan, Y.; Ponnambalam, S. An extensive review of research in swarm robotics. In Proceedings of the 2009 World Congress on Nature & Biologically Inspired Computing (NaBIC), Coimbatore, India, 9–11 December 2009; pp. 140–145. [Google Scholar]
- Payton, D.; Estkowski, R.; Howard, M. Compound Behaviors in Pheromone Robotics. Robot. Auton. Syst. 2001, 44, 229–240. [Google Scholar] [CrossRef]
- Filipescu, A.; Susnea, I.; Filipescu, S.; Stamatescu, G. Wheeled mobile robot control using virtual pheromones and neural networks. In Proceedings of the IEEE International Conference on Control and Automation, Christchurch, New Zealand, 9–11 December 2009; pp. 157–162. [Google Scholar]
- Fujisawa, R.; Shimizu, Y.; Matsuno, F. Effectiveness of tuning of pheromone trail lifetime in attraction of robot swarm. In Proceedings of the 2011 IEEE/SICE International Symposium on System Integration (SII), Kyoto, Japan, 20–22 December 2011; pp. 702–707. [Google Scholar]
- Purnamadjaja, A.; Russell, R. Pheromone communication: Implementation of necrophoric bee behaviour in a robot swarm. In Proceedings of the 2004 IEEE Conference on Robotics, Automation and Mechatronics, Singapore, 1–3 December 2004; Volume 2, pp. 638–643. [Google Scholar]
- Florea, B.F.; Grigore, O.; Datcu, M. Pheromone averaging exploration algorithm. In Proceedings of the 2015 International Conference on Advanced Robotics (ICAR), Istanbul, Turkey. 27–31 July 2015; pp. 617–622. [Google Scholar]
- Pearce, J.; Rybski, P.; Stoeter, S.; Papanikolopoulos, N. Dispersion behaviors for a team of multiple miniature robots. In Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, 14–19 September 2003; Volume 1, pp. 1158–1163. [Google Scholar]
- Silva, G.; Costa, J.; Magalhaes, T.; Reis, L. CyberRescue: A pheromone approach to multi-agent rescue simulations. In Proceedings of the 5th Iberian Conference on Information Systems and Technologies (CISTI), Santiago de Compostela, Spain, 16–19 June 2010; pp. 1–6. [Google Scholar]
- Ravankar, A.; Ravankar, A.A.; Kobayashi, Y.; Emaru, T. On a bio-inspired hybrid pheromone signalling for efficient map exploration of multiple mobile service robots. Artif. Life Robot. 2016, 21, 1–11. [Google Scholar] [CrossRef]
- Ravankar, A.; Ravankar, A.A.; Kobayashi, Y.; Emaru, T. Avoiding blind leading the blind. Int. J. Adv. Robot. Syst. 2016, 13, 1729881416666088. [Google Scholar] [CrossRef]
- Calvo, R.; de Oliveira, J.; Figueiredo, M.; Romero, R. Bio-inspired coordination of multiple robots systems and stigmergy mechanims to cooperative exploration and surveillance tasks. In Proceedings of the 2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems (CIS), Qingdao, China, 17–19 September 2011; pp. 223–228. [Google Scholar]
- Ravankar, A.; Ravankar, A.; Kobayashi, Y.; Emaru, T. Symbiotic Navigation in Multi-Robot Systems with Remote Obstacle Knowledge Sharing. Sensors 2017, 17, 1581. [Google Scholar] [CrossRef] [PubMed]
- Ravankar, A.; Ravankar, A.A.; Hoshino, Y.; Emaru, T.; Kobayashi, Y. On a Hopping-points SVD and Hough Transform Based Line Detection Algorithm for Robot Localization and Mapping. Int. J. Adv. Robot. Syst. 2016, 13, 98. [Google Scholar] [CrossRef]
- Ravankar, A.; Kobayashi, Y.; Ravankar, A.; Emaru, T. A connected component labeling algorithm for sparse Lidar data segmentation. In Proceedings of the 6th International Conference on Automation, Robotics and Applications (ICARA), Queenstown, New Zealand, 17–19 February 2015; pp. 437–442. [Google Scholar] [CrossRef]
- Hart, P.; Nilsson, N.; Raphael, B. A Formal Basis for the Heuristic Determination of Minimum Cost Paths. IEEE Trans. Syst. Sci. Cybern. 1968, 4, 100–107. [Google Scholar] [CrossRef]
Signal | Value | Force |
---|---|---|
Pheromone | +ve number | Attractive |
Antipheromone | −ve number | Repulsive |
None | Zero | None |
Step | Area-A | Area-B | Area-C | Area-D | Area-F | Area-G | Area-H |
---|---|---|---|---|---|---|---|
Step-0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
Step-1 | 1 () | 0 | 0 | 0 | 0 | 0 | 0 |
Step-2 | 1 () | 1 () | 0 | 0 | 0 | 0 | 0 |
Step-3 | 1 () | 1 () | 0 | 0 | 1 () | 0 | 0 |
Step-4 | 1 () | 1 () | 1 () | 0 | 1 () | 0 | 0 |
Step-5 | 1 () | 1 () | 1 () | 0 | 1 () | 1 () | 0 |
Step-6 | 1 () | 1 () | 1 () | 1 () | 1 () | 1 () | 0 |
Step-7 | 1 () | 1 () | 1 () | 1 () | 1 () | 1 () | 1 () |
© 2018 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
Share and Cite
Ravankar, A.; Ravankar, A.A.; Kobayashi, Y.; Hoshino, Y. A Bio-Inspired Algorithm for Autonomous Task Coordination of Multiple Mobile Robots. Proceedings 2019, 4, 1. https://doi.org/10.3390/ecsa-5-05760
Ravankar A, Ravankar AA, Kobayashi Y, Hoshino Y. A Bio-Inspired Algorithm for Autonomous Task Coordination of Multiple Mobile Robots. Proceedings. 2019; 4(1):1. https://doi.org/10.3390/ecsa-5-05760
Chicago/Turabian StyleRavankar, Abhijeet, Ankit A. Ravankar, Yukinori Kobayashi, and Yohei Hoshino. 2019. "A Bio-Inspired Algorithm for Autonomous Task Coordination of Multiple Mobile Robots" Proceedings 4, no. 1: 1. https://doi.org/10.3390/ecsa-5-05760