TY - GEN
T1 - Bio-inspired nest-site selection for distributing robots in low-communication environments
AU - Cooke, Gregory
AU - Squires, Eric
AU - Strickland, Laura
AU - Bowers, Kenneth
AU - Pippin, Charles
AU - Pavlic, Theodore
AU - Pratt, Stephen
N1 - Funding Information:
Acknowledgments. This work was supported by DARPA under the Bio-Inspired Swarming seedling project, contract FA8651-17-F-1013.
PY - 2018
Y1 - 2018
N2 - We consider the problem of using only local communication to implement a distributed algorithm for large teams of mobile robots that searches space for locations of interest and distributes the robots across those locations according to quality. Toward this end, we take inspiration from insect societies that are able to coordinate without the use of pheromone trails. In particular, we focus on species that use only one-on-one local interactions to adaptively distribute scouts during nest-site selection tasks. Thus, there is a direct analogy between the insect communication mechanisms and peer-to-peer communication implementable in mobile, ad hoc networks of robots. Using chemical reaction networks as a conceptual bridge between behavioral descriptions from biology and event-triggered rules for robots, we develop a stochastic, biomimetic algorithm that achieves the desired goal. To validate our approach, we implement the algorithm on a large swarm of aerial, fixed-wing robots operating within the high-fidelity simulation package, SCRIMMAGE.
AB - We consider the problem of using only local communication to implement a distributed algorithm for large teams of mobile robots that searches space for locations of interest and distributes the robots across those locations according to quality. Toward this end, we take inspiration from insect societies that are able to coordinate without the use of pheromone trails. In particular, we focus on species that use only one-on-one local interactions to adaptively distribute scouts during nest-site selection tasks. Thus, there is a direct analogy between the insect communication mechanisms and peer-to-peer communication implementable in mobile, ad hoc networks of robots. Using chemical reaction networks as a conceptual bridge between behavioral descriptions from biology and event-triggered rules for robots, we develop a stochastic, biomimetic algorithm that achieves the desired goal. To validate our approach, we implement the algorithm on a large swarm of aerial, fixed-wing robots operating within the high-fidelity simulation package, SCRIMMAGE.
KW - Insect-inspired algorithms
KW - Local communication
KW - Mobile robots
KW - Swarms
KW - UAVs
UR - http://www.scopus.com/inward/record.url?scp=85049381531&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85049381531&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-94779-2_44
DO - 10.1007/978-3-319-94779-2_44
M3 - Conference contribution
AN - SCOPUS:85049381531
SN - 9783319947785
T3 - Communications in Computer and Information Science
SP - 517
EP - 524
BT - Highlights of Practical Applications of Agents, Multi-Agent Systems, and Complexity
A2 - Corchado, Juan M.
A2 - Julian, Vicente
A2 - Osaba Icedo, Eneko
A2 - Bajo, Javier
A2 - Hoffa-Dabrowska, Patrycja
A2 - Silveira, Ricardo Azambuja
A2 - Fernandez, Alberto
A2 - Giroux, Sylvain
A2 - Navarro Martínez, Elena María
A2 - Mathieu, Philippe
A2 - Castro, Antonio J.
A2 - Sanchez-Pi, Nayat
A2 - del Val, Elena
A2 - Unland, Rainer
A2 - Fuentes-Fernandez, Ruben
PB - Springer Verlag
T2 - 16th International Conference on Practical Applications of Agents, Multi-Agent Systems, PAAMS 2018
Y2 - 20 June 2018 through 22 June 2018
ER -