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Stigmergy at work: Planning and navigation for a service robot on an RFID floor
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0001-8229-1363
2015 (English)In: IEEE International Conference on Robotics and Automation, IEEE Computer Society, 2015, p. 1085-1092Conference paper, Published paper (Refereed)
Abstract [en]

Many species in nature store information in the environment to facilitate the performance of tasks and enable cooperation. This principle is known as stigmergy. Stigmergy has been widely studied in robotic systems, but so far mostly in simulation or in laboratory proofs of concept. In this paper, we propose a stigmergic approach to goal-directed navigation that can be used for navigation of a full-scale robotic system in a real apartment. A team of small ePuck robots build a set of navigation maps directly onto an RFID floor, where each map is associated to one predefined goal. The information stored in the floor can then used by a mid-size robot or by a larger domestic robot to perform safe navigation toward the predefined goals. To navigate, robots only rely on the information read from the RFID tags: in particular, they do not need to use an internal map or to perform self-localization. This results in robust and repeatable navigation with minimal hardware and software requirements.

Place, publisher, year, edition, pages
IEEE Computer Society, 2015. p. 1085-1092
Series
Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-48014DOI: 10.1109/ICRA.2015.7139311ISI: 000370974901012Scopus ID: 2-s2.0-84938251670ISBN: 9781479969234 (print)OAI: oai:DiVA.org:oru-48014DiVA, id: diva2:901045
Conference
IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, May 26-30, 2015
Available from: 2016-02-05 Created: 2016-02-05 Last updated: 2018-01-10Bibliographically approved

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Khaliq, Ali AbdulSaffiotti, Alessandro

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CiteExportLink to record
Permanent link

Direct link
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