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Stigmergic algorithms for multiple minimalistic robots on an RFID floor
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0001-8229-1363
2014 (English)In: Swarm Intelligence, ISSN 1935-3820, Vol. 8, no 3, p. 199-225Article in journal (Refereed) Published
Abstract [en]

Stigmergy is a powerful principle in nature, which has been shown to have interesting applications to robotic systems. By leveraging the ability to store information in the environment, robots with minimal sensing, memory, and computational capabilities can solve complex problems like global path planning. In this paper, we discuss the use of stigmergy in minimalist multi-robot systems, in which robots do not need to use any internal model, long-range sensing, or position awareness. We illustrate our discussion with three case studies: building a globally optimal navigation map, building a gradient map of a sensed feature, and updating the above maps dynamically. All case studies have been implemented in a real environment with multiple ePuck robots, using a floor with 1,500 embedded radio frequency identification tags as the stigmergic medium. Results collected from tens of hours of real experiments and thousands of simulated runs demonstrate the effectiveness of our approach.

Place, publisher, year, edition, pages
2014. Vol. 8, no 3, p. 199-225
Keywords [en]
Stigmergy, RFID tags, Multi-robot systems, Minimalistic robots, Robot navigation, Path planning, Robotic olfaction
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-37870DOI: 10.1007/s11721-014-0096-0ISI: 000342123500002Scopus ID: 2-s2.0-84904521380OAI: oai:DiVA.org:oru-37870DiVA, id: diva2:757448
Available from: 2014-10-22 Created: 2014-10-20 Last updated: 2018-01-11Bibliographically approved

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Khaliq, Ali AbdulDi Rocco, MaurizioSaffiotti, Alessandro

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CiteExportLink to record
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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf