Artificial Intelligence
Real-time search for learning autonomous agents
Real-time search for learning autonomous agents
Xavier: a robot navigation architecture based on partially observable Markov decision process models
Artificial intelligence and mobile robots
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
Value-update rules for real-time search
AAAI '99/IAAI '99 Proceedings of the sixteenth national conference on Artificial intelligence and the eleventh Innovative applications of artificial intelligence conference innovative applications of artificial intelligence
Automatically tracking and analyzing the behavior of live insect colonies
Proceedings of the fifth international conference on Autonomous agents
Odour Detection by Mobile Robots
Odour Detection by Mobile Robots
An Behavior-based Robotics
Navigating Mobile Robots: Systems and Techniques
Navigating Mobile Robots: Systems and Techniques
AI Magazine
Efficiently searching a graph by a smell-oriented vertex process
Annals of Mathematics and Artificial Intelligence
Efficient and inefficient ant coverage methods
Annals of Mathematics and Artificial Intelligence
Coverage for robotics – A survey of recent results
Annals of Mathematics and Artificial Intelligence
Autonomous Robots
Efficient Exploration In Reinforcement Learning
Efficient Exploration In Reinforcement Learning
Programming stigmergic coordination with the TOTA middleware
Proceedings of the fourth international joint conference on Autonomous agents and multiagent systems
Pervasive pheromone-based interaction with RFID tags
ACM Transactions on Autonomous and Adaptive Systems (TAAS)
Guiding robots' behaviors using pheromone communication
Autonomous Robots
Cooperative Cleaners: A Study in Ant Robotics
International Journal of Robotics Research
On redundancy, efficiency, and robustness in coverage for multiple robots
Robotics and Autonomous Systems
Field-Based Coordination for Pervasive Computing Applications
Bio-Inspired Computing and Communication
Comparing real-time and incremental heuristic search for real-time situated agents
Autonomous Agents and Multi-Agent Systems
The giving tree: constructing trees for efficient offline and online multi-robot coverage
Annals of Mathematics and Artificial Intelligence
Rapid exploration of unknown areas through dynamic deployment of mobile and stationary sensor nodes
Autonomous Agents and Multi-Agent Systems
Teamwork in self-organized robot colonies
IEEE Transactions on Evolutionary Computation
Local Voronoi decomposition for multi-agent task allocation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Programming modular robots with the TOTA middleware
ESOA'06 Proceedings of the 4th international conference on Engineering self-organising systems
Antbots: a feasible visual emulation of pheromone trails for swarm robots
ANTS'10 Proceedings of the 7th international conference on Swarm intelligence
Multirobot forest coverage for weighted and unweighted terrain
IEEE Transactions on Robotics
Static and expanding grid coverage with ant robots: Complexity results
Theoretical Computer Science
Multi-agent Cooperative Cleaning of Expanding Domains
International Journal of Robotics Research
Multi-agent coalition formation for distributed area coverage
CARE@AI'09/CARE@IAT'10 Proceedings of the CARE@AI 2009 and CARE@IAT 2010 international conference on Collaborative agents - research and development
Multi-robot exploration and terrain coverage in an unknown environment
Robotics and Autonomous Systems
Spatial navigation based on novelty mediated autobiographical memory
IWINAC'05 Proceedings of the First international conference on Mechanisms, Symbols, and Models Underlying Cognition: interplay between natural and artificial computation - Volume Part I
Augmenting the physical environment through embedded wireless technologies
E4MAS'05 Proceedings of the 2nd international conference on Environments for Multi-Agent Systems
Evolutionary optimization of pheromone-based stigmergic communication
EvoApplications'12 Proceedings of the 2012t European conference on Applications of Evolutionary Computation
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Robotics researchers have studied robots that can follow trails laid by other robots. We, on the other hand, study robots that leave trails in the terrain to cover closed terrain repeatedly. How to design such ant robots has so far been studied only theoretically for gross robot simplifications. In this article, we describe for the first time how to build physical ant robots that cover terrain and test their design both in realistic simulation environments and on a Pebbles III robot. We show that the coverage behavior of our ant robots can be modeled with a modified version of node counting, a real-time search method. We then report on first experiments that we performed to understand their efficiency and robustness in situations where some ant robots fail, they are moved without realizing this, the trails are of uneven quality, and some trails are destroyed. Finally, we report the results of a large-scale simulation experiment where ten ant robots covered a factory floor of 25 by 25 meters repeatedly over 85 hours without getting stuck.