Dependency by Concentration of Pheromone Trail for Multiple Robots

Authors:
Ryusuke Fujisawa;Shigeto Dobata;Daisuke Kubota;Hikaru Imamura;Fumitoshi Matsuno
Affiliations:
The University of Electro-Communications, Tokyo, Japan;The University of Tokyo, Tokyo, Japan;The University of Electro-Communications, Tokyo, Japan;The University of Electro-Communications, Tokyo, Japan;The University of Electro-Communications, Tokyo, Japan
Venue:
ANTS '08 Proceedings of the 6th international conference on Ant Colony Optimization and Swarm Intelligence
Year:
2008

Citing 1
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Abstract

In this paper, we discuss the concentration dependency of pheromone communication in swarm robotics. Instead of a pheromone trail and the insect antenna, we used ethanol and an alcohol sensor. This experimental system has a trade-off problem; high concentrations of the pheromone yield high signal strength but the signal duration is short, while low pheromone concentrations yield low signal strength but a long signal duration. We examined the optimal pheromone concentration for a swarm of robots. For this purpose, we developed a swarm behaviour algorithm and swarm robots that communicate using a pheromone trail. In addition, we discuss the effects of the pheromone concentration.