Simulated and situated models of chemical trail following in ants
Proceedings of the fifth international conference on simulation of adaptive behavior on From animals to animats 5
Swarm intelligence: from natural to artificial systems
Swarm intelligence: from natural to artificial systems
Whistling in the dark: cooperative trail following in uncertain localization space
AGENTS '00 Proceedings of the fourth international conference on Autonomous agents
Autonomous Robots
Autonomous Robots
Physical deployment of digital pheromones through RFID technology
Proceedings of the fourth international joint conference on Autonomous agents and multiagent systems
Multi-robot mobility enhanced hop-count based localization in ad hoc networks
Robotics and Autonomous Systems
Distributed path planning for mobile robots using a swarm of interacting reinforcement learners
Proceedings of the 6th international joint conference on Autonomous agents and multiagent systems
Navigating by stigmergy: a realization on an RFID floor for minimalistic robots
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
2.5D infrared range and bearing system for collective robotics
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Coverage, exploration, and deployment by a mobile robot and communication network
IPSN'03 Proceedings of the 2nd international conference on Information processing in sensor networks
Cooperative stigmergic navigation in a heterogeneous robotic swarm
SAB'10 Proceedings of the 11th international conference on Simulation of adaptive behavior: from animals to animats
Opinion dynamics for decentralized decision-making in a robot swarm
ANTS'10 Proceedings of the 7th international conference on Swarm intelligence
Subsumption architecture for enabling strategic coordination of robot swarms in a gaming scenario
ICAIS'11 Proceedings of the Second international conference on Adaptive and intelligent systems
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We study how a swarm robotic system consisting of two different types of robots can solve a foraging task. The first type of robots are small wheeled robots, called foot-bots, and the second type are flying robots that can attach to the ceiling, called eye-bots. While the foot-bots perform the actual foraging, i.e. they move back and forth between a source and a target location, the eye-bots are deployed in stationary positions against the ceiling, with the goal of guiding the foot-bots. The key component of our approach is a process of mutual adaptation, in which foot-bots execute instructions given by eye-bots, and eye-bots observe the behavior of foot-bots to adapt the instructions they give. Through a simulation study, we show that this process allows the system to find a path for foraging in a cluttered environment. Moreover, it is able to converge onto the shortest of two paths, and spread over different paths in case of congestion. Since our approach involves mutual adaptation between two sub-swarms of different robots, we refer to it as cooperative self-organization. This is to our knowledge the first work that investigates such a system in swarm robotics.