Bio-inspired nest-site selection for distributing robots in low-communication environments

Gregory Cooke, Eric Squires, Laura Strickland, Kenneth Bowers, Charles Pippin, Theodore Pavlic, Stephen Pratt

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationHighlights of Practical Applications of Agents, Multi-Agent Systems, and Complexity
Subtitle of host publicationThe PAAMS Collection - International Workshops of PAAMS 2018, Proceedings
PublisherSpringer Verlag
Pages517-524
Number of pages8
ISBN (Print)9783319947785
DOIs
StatePublished - Jan 1 2018
Event16th International Conference on Practical Applications of Agents, Multi-Agent Systems, PAAMS 2018 - Toledo, Spain
Duration: Jun 20 2018Jun 22 2018

Publication series

NameCommunications in Computer and Information Science
Volume887
ISSN (Print)1865-0929

Other

Other16th International Conference on Practical Applications of Agents, Multi-Agent Systems, PAAMS 2018
CountrySpain
CityToledo
Period6/20/186/22/18

Keywords

  • Insect-inspired algorithms
  • Local communication
  • Mobile robots
  • Swarms
  • UAVs

ASJC Scopus subject areas

  • Computer Science(all)
  • Mathematics(all)

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