Swarm intelligence: from natural to artificial systems
Swarm intelligence: from natural to artificial systems
Ant Colony Optimization
Guiding robots' behaviors using pheromone communication
Autonomous Robots
RFID digital pheromones for generating stigmergic behaviour to autonomous mobile robots
CONTROL'08 Proceedings of the 4th WSEAS/IASME international conference on Dynamical systems and control
The virtual pheromone communication primitive
DCOSS'06 Proceedings of the Second IEEE international conference on Distributed Computing in Sensor Systems
Pheromone robotics and the logic of virtual pheromones
SAB'04 Proceedings of the 2004 international conference on Swarm Robotics
Ant system: optimization by a colony of cooperating agents
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Model of parts of active network element
ECS'10/ECCTD'10/ECCOM'10/ECCS'10 Proceedings of the European conference of systems, and European conference of circuits technology and devices, and European conference of communications, and European conference on Computer science
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This paper presents a novel approach on the implementation of the concept of "virtual pheromones" for use in controlling autonomous mobile robots. Rather than being deployed in the environment, the virtual pheromones are stored in a map of the environment maintained and updated by a "pheromone server". This map acts like a shared memory for all the agents, by means of a radio communication link between each agent and the pheromone server. No direct communication between agents is required. The pheromone server can be implemented on a regular computer, a handheld device, or an embedded controller carried by a leader robot. The technique described is equally applicable for guiding individual robots and robot swarms. The experiments show that this method allows significant simplification and cost reduction of the autonomous agents. Several possible applications are discussed.