Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Using Artificial Physics to Control Agents
ICIIS '99 Proceedings of the 1999 International Conference on Information Intelligence and Systems
A Model of Adaptation in Collaborative Multi-Agent Systems
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Analysis of Dynamic Task Allocation in Multi-Robot Systems
International Journal of Robotics Research
The I-SWARM project: intelligent small world autonomous robots for micro-manipulation
SAB'04 Proceedings of the 2004 international conference on Swarm Robotics
A review of probabilistic macroscopic models for swarm robotic systems
SAB'04 Proceedings of the 2004 international conference on Swarm Robotics
Performance Evaluation of a Multi-Robot Search & Retrieval System: Experiences with MinDART
Journal of Intelligent and Robotic Systems
| Hi-index | 0.00 |
The foraging scenario is important in robotics, because it has many different applications and demands several fundamental skills from a group of robots, such as collective exploration, shortest path finding, and efficient task allocation. Particularly for large groups of robots emergent behaviors are desired that are decentralized and based on local information only. But the design of such behaviors proved to be difficult because of the absence of a theoretical basis. In this paper, we present a macroscopic model based on partial differential equations for the foraging scenario with virtual pheromones as the medium for communication. From the model, the robot density, the food flow and a quantity describing qualitatively the stability of the behavior can be extracted. The mathematical model is validated in a simulation with a large number of robots. The predictions of the model correspond well to the simulation.