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Discovery and Exploration of Novel Swarm Behaviors Given Limited Robot Capabilities [chapter]

Daniel S. Brown, Ryan Turner, Oliver Hennigh, Steven Loscalzo
2018 Distributed Autonomous Robotic Systems  
While much work in swarm robotics has studied the problem of designing sets of rules and capabilities that result in a specific collective behavior, little work has examined the problem of exploring and  ...  However, knowing what collective behaviors are possible given a limited set of capabilities is difficult.  ...  Our main contributions are summarized as follows: • We propose the first general architecture to explore and form a taxonomy of the space of possible behaviors given a limited-capability robot model. •  ... 
doi:10.1007/978-3-319-73008-0_31 dblp:conf/dars/BrownTHL16 fatcat:3er3to2innha5isjyefsndrks4

Reports on the 2012 AAAI Fall Symposium Series

Rezarta Islamaj Dogan, Yolanda Gil, Haym Hirsh, Narayanan C. Krishnan, Michael Lewis, Cetin Mericli, Parisa Rashidi, Victor Raskin, Samarth Swarup, Wei Sun, Julia M. Taylor, Lana Yeganova
2012 The AI Magazine  
Processes (FS-12-03), Human Control of Bio-Inspired Swarms (FS-12-04), Information Retrieval and Knowledge Discovery in Biomedical Text (FS-12-05), Machine Aggregation of Human Judgment (FS-12-06), Robots  ...  The titles of the eight symposia were as follows: AI for Gerontechnology (FS-12-01), Artificial Intelligence of Humor (FS-12-02), Discovery Informatics: The Role of AI Research in Innovating Scientific  ...  Robots Learning Interactively from Human Teachers To harness the full capabilities of robots, we should enable human end users to customize their robots' behaviors and teach them new ones.  ... 
doi:10.1609/aimag.v34i1.2457 fatcat:enmcwpyeiravdnzmc7gj7g77kq

Provable self-organizing pattern formation by a swarm of robots with limited knowledge

Mario Coppola, Jian Guo, Eberhard Gill, Guido C. H. E. de Croon
2019 Swarm Intelligence  
In this paper we present a procedure to automatically design and verify the local behavior of robots with highly limited cognition.  ...  This is done while also avoiding collisions and keeping the coherence of the swarm at all times. The generated local behavior is a probabilistic local state-action map.  ...  With this, we limit the global analysis only to the discovery of spurious patterns.  ... 
doi:10.1007/s11721-019-00163-0 fatcat:jycmgrqzf5a3jh3qlzqttljqk4

Using MAP-Elites to Optimize Self-Assembling Behaviors in a Swarm of Bio-micro-robots [article]

Leo Cazenille, Nicolas Bredeche, Nathanael Aubert-Kato
2019 biorxiv/medrxiv   pre-print
Programming such robot swarms is challenging for two reasons. First, the goal is to optimize both the parameters and the structure of chemical reaction networks.  ...  We are interested in programming a swarm of molecular robots that can perform self-assembly to form specific shapes at a specific location.  ...  ACKNOWLEDGEMENTS This work was supported by JSPS KAKENHI Grant Number JP17K00399 and by Grant-in-Aid for JSPS Fellows JP19F19722.  ... 
doi:10.1101/845594 fatcat:u6zx7xhhwjgoxhv4cwebx7wfee

Reconfigurable swarm robots for structural health monitoring: a brief review

Mohammad R. Jahanshahi, Wei-Men Shen, Tarutal Ghosh Mondal, Mohamed Abdelbarr, Sami F. Masri, Uvais A. Qidwai
2017 International Journal of Intelligent Robotics and Applications  
Recent advancements in robotic systems have led to the development of reconfigurable swarm robots (RSR) that can change their shape and functionality dynamically, without any external intervention.  ...  A roadmap for future research has also been outlined based on the limitations of the current methods and anticipated needs of future inspection systems.  ...  Swarm robots consist of a large number robotic modules coordinating among each other in a way analogous to the collective behavior of social insects such as ants and bees.  ... 
doi:10.1007/s41315-017-0024-8 dblp:journals/ijira/JahanshahiSMAMQ17 fatcat:66oqqtfub5bwrmbgurtt2feolm

Swarm Robotics: From Sources of Inspiration to Domains of Application [chapter]

Erol Şahin
2005 Lecture Notes in Computer Science  
which can act as sources of inspiration, and a list of promising domains for the utilization of swarm robotic systems.  ...  Abstract Swarm robotics is a novel approach to the coordination of large numbers of relatively simple robots which takes its inspiration from social insects.  ...  Introduction Swarm robotics is a novel approach to the coordination of large numbers of robots.  ... 
doi:10.1007/978-3-540-30552-1_2 fatcat:zj4nclfvfraw7pf63xfwuvdfom

Pervasive Flexibility in Living Technologies through Degeneracy Based Design [article]

James Whitacre, Axel Bender
2011 arXiv   pre-print
We provide examples of degeneracy in a number of rudimentary living technologies from military socio-technical systems to swarm robotics and we present design principles - including protocols, loose regulatory  ...  The capacity to adapt can greatly influence the success of systems that need to compensate for damaged parts, learn how to achieve robust performance in new environments, or exploit novel opportunities  ...  Many studies have only considered robots that are identical in form and function and these swarms have been found to produce a limited repertoire of system behaviors.  ... 
arXiv:1112.3117v1 fatcat:nr3sp2g6srd4hoqwqisfkmlxh4

Swarm robotics in wireless distributed protocol design for coordinating robots involved in cooperative tasks

Floriano De Rango, Nunzia Palmieri, Xin-She Yang, Salvatore Marano
2017 Soft Computing - A Fusion of Foundations, Methodologies and Applications  
We propose a strategy to explore an unknown area, using a stigmergy approach based on ants behavior, and a novel swarm based protocol to recruit and coordinate robots for disarming the mines cooperatively  ...  Simulation tests are presented to show the effectiveness of our proposed Ant-based Task Robot Coordination (ATRC) with only the exploration task and with both exploration and recruiting strategies.  ...  They have limited computing and memory capacities, but not limited to motion, sensing, communication and computation. They are capable of discovering and partially executing the tasks.  ... 
doi:10.1007/s00500-017-2819-9 fatcat:3avsr6ay3fb75cgdnyqrju5lse

The grand challenges ofScience Robotics

Guang-Zhong Yang, Jim Bellingham, Pierre E. Dupont, Peer Fischer, Luciano Floridi, Robert Full, Neil Jacobstein, Vijay Kumar, Marcia McNutt, Robert Merrifield, Bradley J. Nelson, Brian Scassellati (+5 others)
2018 Science Robotics  
One of the ambitions of Science Robotics is to deeply root robotics research in science while developing novel robotic platforms that will enable new scientific discoveries.  ...  For the next two challenges, we have included social robotics and medical robotics as application-specific areas of development to highlight the substantial societal and health impacts that they will bring  ...  Leff, and S. Russell, who provided detailed comments, review, and original materials for this article.  ... 
doi:10.1126/scirobotics.aar7650 pmid:33141701 fatcat:ier3exhbkvauhjd2uhgagtxjde

A Mission-Oriented Service Discovery Mechanism for Highly Dynamic Autonomous Swarms of Unmanned Systems

Vincent Autefage, Serge Chaumette, Damien Magoni
2015 2015 IEEE International Conference on Autonomic Computing  
However, embedding a large number of capabilities in all of members of a swarm is expensive in terms of cost, weight and energy consumption.  ...  It then becomes necessary to provide a discovery mechanism built into the swarm in order to allow its members to share their capabilities and to collaborate for achieving a global mission.  ...  Finally, we plan to demonstrate the benefits of AMiRALE for other applications and devices related to connected objects, smart cities and the Internet of Things.  ... 
doi:10.1109/icac.2015.28 dblp:conf/icac/AutefageCM15 fatcat:l4dzy5vgivherdzuiei3qri3w4

Nature-Inspired Swarm Intelligence and Its Applications

Sangita Roy, Samir Biswas, Sheli Sinha Chaudhuri
2014 International Journal of Modern Education and Computer Science  
To enhance the capabilities of robot and different systems, researchers started to exploit the behavior of natural systems.  ...  Implementation of swarm intelligence in robotics i.e., swarm robots are narrated. The limitations of swarm robots as well as factors behind the success of swarm robotics have also been encompassed.  ...  Robot: a mechanical automaton, i.e., an entity capable of both mechanical and informational behavior.  ... 
doi:10.5815/ijmecs.2014.12.08 fatcat:u5tfnsvaonhwtbvtgsqii2hnce

Automatic modular design of robot swarms using behavior trees as a control architecture

Antoine Ligot, Jonas Kuckling, Darko Bozhinoski, Mauro Birattari
2020 PeerJ Computer Science  
We investigate the possibilities, challenges, and limitations that arise from the use of behavior trees in the context of the automatic modular design of collective behaviors in swarm robotics.  ...  To do so, we introduce Maple, an automatic design method that combines predefined modules—low-level behaviors and conditions—into a behavior tree that encodes the individual behavior of each robot of the  ...  In addition, the hardware limitations of the simple individual robots typically used in swarm robotics does not give them the capabilities of assessing natural termination criteria of the low-level behaviors  ... 
doi:10.7717/peerj-cs.314 pmid:33816965 pmcid:PMC7924474 fatcat:ya7fzbc7jfdvblbwbmfemibwa4

Exploring Self-Assembling Behaviors in a Swarm of Bio-micro-robots using Surrogate-Assisted MAP-Elites [article]

Leo Cazenille and Nicolas Bredeche and Nathanael Aubert-Kato
2019 arXiv   pre-print
Swarms of molecular robots are a promising approach to create specific shapes at the microscopic scale through self-assembly.  ...  Additionally, we propose a surrogate model of micro-robots physics and chemical reaction dynamics to reduce the computational costs of simulation.  ...  DISCUSSION AND CONCLUSION We presented an approach to optimize CRNs driving the behavior of a swarm of bio-micro-robots to self-assemble into a T-shaped target.  ... 
arXiv:1910.00230v1 fatcat:hcemvfugrjdlviljveagkuo2h4

Swarm robotics: a review from the swarm engineering perspective

Manuele Brambilla, Eliseo Ferrante, Mauro Birattari, Marco Dorigo
2013 Swarm Intelligence  
We conclude with a discussion of the current limits of swarm robotics as an engineering discipline and with suggestions for future research directions.  ...  Through simple rules and local interactions, swarm robotics aims at designing robust, scalable, and flexible collective behaviors for the coordination of large numbers of robots.  ...  Parker and the anonymous reviewers for their feedback that helped improving the paper. We also thank the authors of the images reproduced in this paper for granting us publication permissions.  ... 
doi:10.1007/s11721-012-0075-2 fatcat:geyjmq52ijerhcoqwgqqihcgoq

Directed stigmergy-based control for multi-robot systems

Fitzgerald Steele, Geb Thomas
2007 Proceeding of the ACM/IEEE international conference on Human-robot interaction - HRI '07  
Multi-robot systems are particularly useful in tasks that require searching large areas such as planetary science exploration, urban search and rescue, or landmine remediation.  ...  Inspiration from natural decentralized systems guides the development of a computer simulation for stigmergy-based control of multi-robot system, and the interface with which an operator can interact and  ...  If given adequate weight, the control vector will override the wandering behavior of the basic foraging system. A Pendant GUI was developed to direct the robot swarm.  ... 
doi:10.1145/1228716.1228747 dblp:conf/hri/SteeleT07 fatcat:4y3nxup7d5chvpnethd7llyfsy
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