TY - GEN
T1 - Bio-inspired group behaviors for the deployment of a swarm of robots to multiple destinations
AU - Berman, Spring
AU - Halász, Ádám
AU - Kumar, Vijay
AU - Pratt, Stephen
PY - 2007
Y1 - 2007
N2 - We present a methodology for characterizing and synthesizing swarm behaviors using both a macroscopic model that represents a swarm as a continuum and a microscopic model that represents individual robots. We develop a systematic approach for synthesizing behaviors at the macroscopic level that can be realized on individual robots at the microscopic level. Our methodology is inspired by a dynamical model of ant house hunting [1], a decentralized process in which a colony attempts to emigrate to the best site among several alternatives. The model is hybrid because the colony switches between different sets of behaviors, or modes, during this process. At the macroscopic level, we are able to synthesize controllers that result in the deployment of a robotic swarm in a predefined ratio between distinct sites. We then derive hybrid controllers for individual robots using only local interactions and no communication that respect the specifications of the global continuous behavior. Our simulations demonstrate that our synthesis procedure yields a correct microscopic model from the macroscopic description with guarantees on performance at both levels.
AB - We present a methodology for characterizing and synthesizing swarm behaviors using both a macroscopic model that represents a swarm as a continuum and a microscopic model that represents individual robots. We develop a systematic approach for synthesizing behaviors at the macroscopic level that can be realized on individual robots at the microscopic level. Our methodology is inspired by a dynamical model of ant house hunting [1], a decentralized process in which a colony attempts to emigrate to the best site among several alternatives. The model is hybrid because the colony switches between different sets of behaviors, or modes, during this process. At the macroscopic level, we are able to synthesize controllers that result in the deployment of a robotic swarm in a predefined ratio between distinct sites. We then derive hybrid controllers for individual robots using only local interactions and no communication that respect the specifications of the global continuous behavior. Our simulations demonstrate that our synthesis procedure yields a correct microscopic model from the macroscopic description with guarantees on performance at both levels.
UR - http://www.scopus.com/inward/record.url?scp=36348979878&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=36348979878&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2007.363665
DO - 10.1109/ROBOT.2007.363665
M3 - Conference contribution
AN - SCOPUS:36348979878
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2318
EP - 2323
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -