Data networks
Whistling in the dark: cooperative trail following in uncertain localization space
AGENTS '00 Proceedings of the fourth international conference on Autonomous agents
Dependency by Concentration of Pheromone Trail for Multiple Robots
ANTS '08 Proceedings of the 6th international conference on Ant Colony Optimization and Swarm Intelligence
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
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We study self-organized navigation in a heterogeneous robotic swarm consisting of two types of robots: small wheeled robots, called foot-bots, and flying robots that can attach to the ceiling, called eye-bots. The task of foot-bots is to navigate back and forth between a source and a target location. The eye-bots are placed in a chain on the ceiling, connecting source and target using infrared communication. Their task is to guide foot-bots, by giving local directional instructions. The problem we address is how the positions of eye-bots and the directional instructions they give can be adapted, so that they indicate a path that is efficient for foot-bot navigation, also in the presence of obstacles. We propose an approach of mutual adaptation between foot-bots and eye-bots. Our solution is inspired by pheromone based navigation of ants, as eye-bots serve as mobile stigmergic markers for foot-bot navigation.