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Collective Decision Making in a Swarm of Robots: How Robust the BEECLUST Algorithm Performs in Various Conditions

Daniela Kengyel, Payam Zahadat, Thomas Kunzfeld, Thomas Schmickl
2016 Proceedings of the 9th EAI International Conference on Bio-inspired Information and Communications Technologies (formerly BIONETICS)  
In this paper a honeybee inspired collective-decision-making algorithm called BEECLUST is studied in a swarm of autonomous robots and the performance of the swarm is investigated in different conditions  ...  Here the algorithm is applied in swarms of improved e-puck robots in three different conditions in order to study the strengths and limitations of the algorithm.  ...  CONCLUSION & FUTURE WORK In this paper we study the BEECLUST algorithm with robots under various conditions in a temperature gradient.  ... 
doi:10.4108/eai.3-12-2015.2262332 dblp:journals/sg/KengyelZKS16 fatcat:jtjswjshvvc4nl7e7zunmskxea

Interaction of robot swarms using the honeybee-inspired control algorithm BEECLUST

Michael Bodi, Ronald Thenius, Martina Szopek, Thomas Schmickl, Karl Crailsheim
2012 Mathematical and Computer Modelling of Dynamical Systems  
In this article we show that the BEECLUST algorithm provides all features for making collective decisions.  ...  In this work we investigated how robust a robot swarm acts against disturbances caused by another robot swarm, both using the BEECLUST algorithm, which is inspired by honeybee behaviour.  ...  Acknowledgements We thank Sibylle Hahshold and Gerald Radspieler for providing us with the data of honeybee experiments and for building the honeybee temperature arena.  ... 
doi:10.1080/13873954.2011.601420 fatcat:7db3ps3snvcqhhfmmbhxzq5ava

Get in touch: cooperative decision making based on robot-to-robot collisions

Thomas Schmickl, Ronald Thenius, Christoph Moeslinger, Gerald Radspieler, Serge Kernbach, Marc Szymanski, Karl Crailsheim
2008 Autonomous Agents and Multi-Agent Systems  
We demonstrate the ability of a swarm of autonomous micro-robots to perform collective decision making in a dynamic environment.  ...  We studied the performance of the robotic swarm under four environmental conditions and investigated the dynamics of the aggregation behaviour as well as the flexibility and the robustness of the solutions  ...  Acknowledgements This study was partially supported by the following research grants: EU-IST FET project I-Swarm, no. 507006 and the research grant "Temperature-induced aggregation of young honeybees",  ... 
doi:10.1007/s10458-008-9058-5 fatcat:q52r7tdzkncq7cxilyjkeqzprm

Investigation of cue-based aggregation in static and dynamic environments with a mobile robot swarm

Farshad Arvin, Ali Emre Turgut, Tomáš Krajník, Shigang Yue
2016 Adaptive Behavior  
Aggregation is one of the most fundamental behaviors that has been studied in swarm robotic researches for more than two decades.  ...  The results of the experiments show that environmental conditions affect the aggregation performance considerably and have to be studied in depth.  ...  In that study, we compared the performance of two proposed aggregation algorithms -vector averaging and naïve -with BEECLUST.  ... 
doi:10.1177/1059712316632851 fatcat:w2hunfvfgbas5lkjdgiwi3rqtu

Collective Foraging [chapter]

Alan Winfield
2013 Handbook of Collective Robotics  
Finally, we wanted to investigate how the trophallaxis-inspired algorithm allows a swarm to consider sticky areas in its collective decision making.  ...  The robots were able to make a two-fold collective decision.  ... 
doi:10.1201/b14908-14 fatcat:dqyhndpiyjfu3fxgx43tultqwa

Algorithmic requirements for swarm intelligence in differently coupled collective systems

Jürgen Stradner, Ronald Thenius, Payam Zahadat, Heiko Hamann, Karl Crailsheim, Thomas Schmickl
2013 Chaos, Solitons & Fractals  
In this paper we demonstrate and compare a set of bio-inspired algorithms that are used to control the collective behavior of swarms and modular systems: BEECLUST, AHHS (hormone controllers), FGRN (fractal  ...  They serve as interesting sources of inspiration for control algorithms in swarm robotics on the one hand, and in modular robotics on the other hand.  ...  allow collective computation and/or collective decision making.  ... 
doi:10.1016/j.chaos.2013.01.011 pmid:23805030 pmcid:PMC3688318 fatcat:pxfszlpmgje5vogvg5qseboqny

Photomorphogenesis for robot self-assembly: adaptivity, collective decision-making, and self-repair

Mohammad Divband Soorati, Mary Katherine Heinrich, Javad Ghofrani, Payam Zahadat, Heiko Hamann
2019 Bioinspiration & Biomimetics  
In representative experiments, the self-assembling robots collectively make rational decisions on where to grow.  ...  All these capabilities of adaptivity, collective decision-making, and self-repair in our robot self-assembly originate directly from self-organized behavior of the vascular morphogenesis model.  ...  Certain images in this publication have been obtained by the author(s) from the Wikipedia/Wikimedia website, where they were made available under a Creative Commons licence or stated to be in the public  ... 
doi:10.1088/1748-3190/ab2958 pmid:31298225 fatcat:mvc6gjxzrfcirhu4dk6ikwtgp4

Dynamics of Collective Decision Making of Honeybees in Complex Temperature Fields

Martina Szopek, Thomas Schmickl, Ronald Thenius, Gerald Radspieler, Karl Crailsheim, James AR. Marshall
2013 PLoS ONE  
We show that the collective thermotaxis is a simple but well evolved, scalable and robust social behaviour that enables the collective of bees to perform complex tasks despite the limited abilities of  ...  We tested single and groups of young bees concerning their ability to discriminate a local from a global temperature optimum and, for groups of bees, analysed the speed of the decision making process as  ...  The analysis of the local interactions of the bees during the collective thermotaxis led to a simple algorithm for swarm robots, the BEECLUST algorithm [20] .  ... 
doi:10.1371/journal.pone.0076250 pmid:24146843 pmcid:PMC3797801 fatcat:iwwkddleljct3nlmg6xn7gx624

Controlling Swarms: A Programming Paradigm with Minimalistic Communication [article]

Joshua Cherian Varughese, Hannes Hornischer, Ronald Thenius, Payam Zahadat, Franz Wotawa, Thomas Schmickl
2018 arXiv   pre-print
We show that even with 1-bit bandwidth communication between agents suffices for the design of a substantial set of behaviors in the domain of essential behaviors of a collective.  ...  In this work, we present a Wave Oriented Swarm Programming Paradigm (WOSPP) enabling the control of swarms with minimalistic communication bandwidth in a simple manner, yet allowing the emergence of diverse  ...  Acknowledgements This work was supported by EU-H2020 Project no. 640967, subCUL-Tron, funded by the European Unions Horizon 2020 research and innovation programme.  ... 
arXiv:1804.04202v2 fatcat:yj4bv2vwujb2pcojsus7rz5p3a

Space-Time Continuous Models of Swarm Robotic Systems: Supporting Global-to-Local Programming

Heiko Hamann
A generic model in as far as possible mathematical closed-form was developed that predicts the behavior of large self-organizing robot groups (robot swarms) based on their control algorithm.  ...  In addition, an extensive subsumption of the relatively young and distinctive interdisciplinary research field of swarm robotics is emphasized.  ...  Thanks to the developers of the free software emacs, gcc, gnuplot, L A T E X, pgf and tikz, MediaWiki, and Firefox which were of great help in my daily work.  ... 
doi:10.5445/ir/1000009904 fatcat:thrskr77urfrtcxnhq7d4n443i