NDLI: Communication using pheromone field for multiple robots

Content Provider	IEEE Xplore Digital Library
Author	Fujisawa, R. Imamura, H. Hashimoto, T. Matsuno, F.
Copyright Year	2008
Description	Author affiliation: Dept. of Mech. Eng. & Intell. Syst., Univ. of Electro-Commun., Chofu (Fujisawa, R.; Imamura, H.)
Abstract	In this paper, we consider a issue that the reliable and the inexpensive communication method in swarm robotics. The ants forage for preys by using pheromone trails. They lay down the pheromone trails between preys and a nest. By detecting the trail pheromone, they can find the preys. Though they do not have excellent intelligence, they can communicate with each other and cooperate by adding information to the environment, like a pheromone. This communication method has a merit that an agent does not need to memorize the place of the preys. We consider to answer the issue that ldquoHow do the swarm robots communicate using pheromone trail?rdquo. We construct a swarm behavior simulator and develop swarm robots that communicate using the pheromone trail. We demonstrate the effectiveness of the communication using the pheromone trail by computer simulations and experiments using swarm robots. To realize this purpose, we design a swarm behavior algorithm, based on 4 perceptual signs (stimuli) and 3 effector signs (actions). In the simulations, an experimental field is discretized by computational grids, and evaporation and diffusion are phenomena of the pheromone modeled by discretized equations. The proposed algorithm is demonstrated by the simulation. Simulation result shows that proposed algorithms act effectively. Based on the simulation results, we set three robots, one nest and one prey in the flat experimental field. We observe three robotspsila behavior and the state of the environment for 20 minutes. The robots laid down the pheromone trail between the nest and the prey, and reinforced the pheromone trail many times. This fact means that swarm robots can realize the function of the chemical, indirect, plastic and local communication like ants by using the pheromone trail.
Starting Page	1391
Ending Page	1396
File Size	342003
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4650971
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Robot sensing systems Robot kinematics Computational modeling Mobile robots Collision avoidance Ethanol
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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