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Testability of a swarm robot using a system of systems approach and discrete event simulation

Matthew Hosking, Ferat Sahin
2010 2010 5th International Conference on System of Systems Engineering  
Using a System of Systems Approach and Discrete Event Simulation Matthew R.  ...  Ferat Sahin A simulation framework using discrete event system specification (DEVS) and data encoded with Extensible Markup Language (XML) is presented to support agent-inthe-loop (AIL) simulations for  ...  The new framework bridges simulation and implementation through the use of a discrete event based system of systems approach to agent-in-the-loop simulation.  ... 
doi:10.1109/sysose.2010.5544074 dblp:conf/sysose/HoskingS10 fatcat:mslqbfp2cfcjrmixa6i7loqeve

Towards adaptive multi-robot systems: self-organization and self-adaptation

Christopher-Eyk Hrabia, Marco Lützenberger, Sahin Albayrak
2018 Knowledge engineering review (Print)  
We discuss these approaches in the light of a framework for multi-robot systems and identify similarities, differences missing links and open gaps that have to be addressed in order to make this framework  ...  In this article, we present a comprehensive overview over state-of-the-art solutions in emergent systems, self-organization, self-adaptation, and robotics.  ...  Acknowledgement The authors thank all reviewers and editors for comments that greatly improved the manuscript.  ... 
doi:10.1017/s0269888918000176 fatcat:ryxqd3qmkbe7xeg5cok43wrs7m

Ethical Mission Definition and Execution for Maritime Robots Under Human Supervision

Don Brutzman, Curtis L. Blais, Duane T. Davis, Robert B. McGhee
2018 IEEE Journal of Oceanic Engineering  
This approach appears to have broad usefulness for both civil and military application of unmanned systems at sea.  ...  Thorough simulation, testing, and certification of qualified robot responses are necessary to build human authority and trust when directing ethical robot operations at a distance.  ...  ACKNOWLEDGMENT The authors gratefully acknowledge the fundamentally important insights and continuing contributions of many dozens of NPS students and colleagues.  ... 
doi:10.1109/joe.2017.2782959 fatcat:4nefuh2ovzblrkfdbgp5b4bqvm

Science of Autonomy: Time-Optimal Path Planning and Adaptive Sampling for Swarms of Ocean Vehicles [chapter]

Pierre F.J. Lermusiaux, Tapovan Lolla, Patrick J. Haley, Konuralp Yigit, Mattheus P. Ueckermann, Thomas Sondergaard, Wayne G. Leslie
2016 Springer Handbook of Ocean Engineering  
The science of autonomy is the systematic development of fundamental knowledge about autonomous decision making and task completing in the form of testable autonomous methods, models and systems.  ...  The aim is to set a basis for a large number of vehicles forming heterogeneous and collaborative underwater swarms that are smart, i. e., knowledgeable about the predicted environment and their uncertainties  ...  The science of autonomy is the systematic development of fundamental knowledge about autonomous decision making and task completing in the form of testable autonomous methods, models, and systems.  ... 
doi:10.1007/978-3-319-16649-0_21 fatcat:s3u34wu3orgtjkrgk4zwhzios4

Attraction, Dynamics, and Phase Transitions in Fire Ant Tower-Building

Gary K. Nave, Nelson T. Mitchell, Jordan A. Chan Dick, Tyler Schuessler, Joaquin A. Lagarrigue, Orit Peleg
2020 Frontiers in Robotics and AI  
While biological studies of collective construction focus on behavioral assays to measure the dynamics of formation and studies of swarm robotics focus on developing hardware that can assemble and interact  ...  Lastly, we provide an optimization tool that may be used to design towers of specific shapes, mechanical loads, and dynamical properties, such as mechanical stability and mobility of the center of mass  ...  in swarm robotic systems.  ... 
doi:10.3389/frobt.2020.00025 pmid:33501194 pmcid:PMC7806095 fatcat:34pmubjqgjckbackww2hxx6quu

Attraction, Dynamics, and Phase Transitions in Fire Ant Tower-Building [article]

Gary K. Nave, Nelson T. Mitchell, Jordan A. Chan Dick, Tyler Schuessler, Joaquin A. Lagarrigue, Orit Peleg
2019 bioRxiv   pre-print
While biological studies of collective construction focus on behavioral assays to measure the dynamics of formation and studies of swarm robotics focus on developing hardware that can assemble and interact  ...  Lastly, we provide an optimization tool that may be used to design towers of specific shapes, mechanical loads, and dynamical properties such as mechanical stability and mobility of the center of mass.  ...  The diusion-limited aggregation case of the model, with P u = 0, k nl = 1, c = 0. The video is shown at a speed of 120 time steps per second.  ... 
doi:10.1101/864306 fatcat:3jq3govpnrdyvdoofuz7ohoac4

Flow-mediated olfactory communication in honeybee swarms

Dieu My T. Nguyen, Michael L. Iuzzolino, Aaron Mankel, Katarzyna Bozek, Greg J. Stephens, Orit Peleg
2021 Proceedings of the National Academy of Sciences of the United States of America  
Honeybee swarms are a landmark example of collective behavior. To become a coherent swarm, bees locate their queen by tracking her pheromones.  ...  that avoids local equilibrium configurations of isotropic (nondirectional and axisymmetric) communication, such as small bee clusters that persist throughout the simulation.  ...  to create bioinspired system designs in the fields of dynamic construction materials, swarm robotics, and distributed communication.  ... 
doi:10.1073/pnas.2011916118 pmid:33758099 fatcat:ogz3iqrlbngb7pgnufb2mcqwqi

Strategy for an Autonomous Behavior that Guarantees a Qualitative Fine Adjustment at the Target Pose of a Collaborating Mobile Robot

Kai Waelti
2021 Zenodo  
As a basis for this strategy, an extensible software architecture for socially acceptable navigation of mobile robots is designed and implemented using ROS components.  ...  This thesis introduces a strategy that leverages a pose graph-based localization approach to reduce positioning errors at target poses of collaborating mobile robots.  ...  These coding increments should be easily testable on the real platform or using a simulator.  ... 
doi:10.5281/zenodo.4742013 fatcat:637baqamlffkfda5cvvxzegyuy

Experiences creating three implementations of the repast agent modeling toolkit

Michael J. North, Nicholson T. Collier, Jerry R. Vos
2006 ACM Transactions on Modeling and Computer Simulation  
Many agent-based modeling and simulation researchers and practitioners have called for varying levels of simulation interoperability ranging from shared software architectures to common agent communications  ...  It is hoped that ongoing architecture standards efforts will benefit from this new knowledge and use it to produce architecture standards with increased robustness.  ...  Deaprtment of Energy. Authors' address: Center for Complex Adaptive Agent Systems Simulation, Decision and Informa- ACKNOWLEDGMENTS The authors wish to thank David L.  ... 
doi:10.1145/1122012.1122013 fatcat:gjnezsnn2jeulldpwtunwnjqja

Contextual Awareness in Human-Advanced-Vehicle Systems: A Survey

Raul Fernandez-Rojas, Anthony Perry, Hemant Singh, Benjamin Campbell, Saber Elsayed, Robert Hunjet, Hussein Abbass
2019 IEEE Access  
His research interests include machine learning, human-robot teaming, and modeling cognitive states using neuroimaging methods such as fNIRS and EEG.  ...  The latter category covers recommender systems, which are used to coordinate the actions that sit at the interface of the human and AVSs, human-machine interaction issues, and the activity recognition  ...  ; and third, automatic control of the level of autonomy of a robot requires a working policy, which adds complexity to the robot system.  ... 
doi:10.1109/access.2019.2902812 fatcat:ieqvknlscjgfthy3snql53ohzi

Collective motion

Tamás Vicsek, Anna Zafeiris
2012 Physics reports  
The observations we report on include systems consisting of units ranging from macromolecules through metallic rods and robots to groups of animals and people.  ...  Our aim is to provide a balanced discussion of the various facets of this highly multidisciplinary field, including experiments, mathematical methods and models for simulations, so that readers with a  ...  Acknowledgments T.V. thanks for collaboration and numerous helpful exchanges of ideas (a long list too long to reproduce here, but cited in the text) with outstanding colleagues over the past 15 years.  ... 
doi:10.1016/j.physrep.2012.03.004 fatcat:qmnmww5lurhqrikozq674wtcce

Imitation with ALICE: learning to imitate corresponding actions across dissimilar embodiments

A. Alissandrakis, C.L. Nehaniv, K. Dautenhahn
2002 IEEE transactions on systems, man and cybernetics. Part A. Systems and humans  
Artificial systems used to study imitation can both test models of imitation derived from observational or neurobiological data on imitation in animals and then apply them to different kinds of nonbiological  ...  systems ranging from robots to software agents.  ...  ACKNOWLEDGMENT A. Alissandrakis would like to thank Y. Dimitriadi for personal inspiration. The authors would like to thank the anonymous reviewers for their constructive comments.  ... 
doi:10.1109/tsmca.2002.804820 fatcat:xaydig4jdfh3xnitqku2ddrhbm

Robot life: simulation and participation in the study of evolution and social behavior

Christopher M. Kelty
2018 History and Philosophy of the Life Sciences  
Acknowledgements This paper is a revised and expanded version of a chapter with the same title that appeared in the volume Research Objects in their Technological Setting, edited by Bernadette Bensaude-Vincent  ...  I thank the editors of this volume for their permission to publish this revised version, and for their editorial and intellectual assistance.  ...  there are no sweeping IMAX films of swarming robots on the plains of Africa.  ... 
doi:10.1007/s40656-017-0181-y pmid:29299702 fatcat:mo77ixoqpjd5hla3us3y3niy3q

Information theoretic analysis of computational models as a tool to understand the neural basis of behaviors [article]

Madhavun Candadai
2021 arXiv   pre-print
Furthermore, the ability to intervene as we please, allows us to conduct in-depth analysis of these models in a way that cannot be performed in natural systems.  ...  In this work, I provide an introduction, a review and discussion to make a case for how information theoretic analysis of computational models is a potent research methodology to help us better understand  ...  While this is a theoretical distinction, the distinction is not significant in simulation since continuous-time systems are also simulated in digital computers using discrete approximations such as Euler  ... 
arXiv:2106.05186v1 fatcat:qklf4it3ardrhfbkbwdjv634ne

A Design Pattern for Decentralised Decision Making

Andreagiovanni Reina, Gabriele Valentini, Cristian Fernández-Oto, Marco Dorigo, Vito Trianni, Zhen Wang
2015 PLoS ONE  
Besides engineering, such a design pattern can prove useful for a deeper understanding of decision making in natural systems thanks to the inclusion of individual heterogeneities and spatial factors, which  ...  We discuss implementation strategies based on both homogeneous and heterogeneous multiagent systems, and we provide means to deal with spatial and topological factors that have a bearing on the micro-macro  ...  However, providing desired cognitive processing abilities to large-scale distributed systems-from swarms of robots [6] to cognitive radio networks [7] and cyber-physical systems [8] -is a complex  ... 
doi:10.1371/journal.pone.0140950 pmid:26496359 pmcid:PMC4619747 fatcat:rilftli4e5fhrpmzbj4kawgpom
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