Mobile Robot Miniaturisation: A Tool for Investigation in Control Algorithms
The 3rd International Symposium on Experimental Robotics III
Evolving mobile robots in simulated and real environments
Artificial Life
Dynamic optimization of a heterogeneous swarm of robots
ISC '07 Proceedings of the 10th IASTED International Conference on Intelligent Systems and Control
A Theoretical Framework for Estimating Swarm Success Probability Using Scouts
International Journal of Swarm Intelligence Research
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The scouts of Leptothorax albipennis colonies find and assess new nest sites, when their current nests become uninhabitable. Observations of these scouts have suggested that they assess, among other things, the integrity of the internal periphery and the size of the potential nest site. The hypothesis that the scouts use a 'Buffon's needle algorithm' to estimate the nest size is supported by experiments. In this paper, we present a behavioral model for the nest assessment of the scouts. This behavior is implemented on an ant-bot, asim ulated scout model, to study the assessment process. We present the simulation results obtained from this model by systematically varying the behavior and analyzing how well the integrity of the periphery and the size of the nest was evaluated. The results indicate that the accuracy of these two evaluations requires conflicting exploration behaviors, and an optimal behavior requires a compromise in the accuracy of both.