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Navigating by stigmergy: a realization on an RFID floor for minimalistic robots
Örebro University, School of Science and Technology.
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0001-8229-1363
2009 (English)In: IEEE international conference on robotics and automation: ICRA '09, New York, NY: IEEE conference proceedings, 2009, p. 245-252Conference paper, Published paper (Refereed)
Abstract [en]

Stigmergy is a mechanism that allows the coordination of actions within the same agent or across different agents by means of traces left in the environment. We propose a stigmergetic approach to robot navigation in which a robot sets values in a hexagonal grid of RFID tags buried under the floor. This approach only requires minimal resources on the robot. The RFID floor will eventually contain a distance map that can guide the robot to a given goal (or set of goals) without the use of any localization system. The same map can be used or improved by other robots or by the same robot at later times. We define algorithms for building the RFID-floor map and for navigating on this map, we prove the convergence of the map building algorithm, and we show an empirical validation of our results using a small robot in a domestic environment.

Place, publisher, year, edition, pages
New York, NY: IEEE conference proceedings, 2009. p. 245-252
National Category
Engineering and Technology Computer Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-7843DOI: 10.1109/ROBOT.2009.5152737ISI: 000276080401253ISBN: 978-1-4244-2788-8 (print)OAI: oai:DiVA.org:oru-7843DiVA, id: diva2:234422
Conference
IEEE international conference on robotics and automation (ICRA). 12-17 May 2009, Kobe, Japan
Available from: 2009-09-08 Created: 2009-09-08 Last updated: 2018-01-13Bibliographically approved

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Publisher's full texthttp://www.aass.oru.se/~asaffio/Papers/icra09.html

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Saffiotti, Alessandro

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
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