Experimental study and modeling of group retrieval in ants as an approach to collective transport in swarm robotic systems

Spring Berman, Quentin Lindsey, Mahmut Selman Sakar, Vijay Kumar, Stephen Pratt

Research output: Contribution to journalArticle

55 Scopus citations

Abstract

Group food retrieval in some ant species serves as a useful paradigm for multirobot collective transport strategies that are decentralized, scalable, and do not require a priori information about the payload. We present a comprehensive overview of group retrieval in ants and investigate this phenomenon in Aphaenogaster cockerelli in order to extract the ants' roles during transport, the rules that govern their actions, and the individual forces that they apply to guide a food item to their nest. To measure these forces, we fabricated elastic structures with calibrated stiffness properties, induced ants to retrieve the structures, and tracked the resulting deformations with a camera. We then developed a hybrid system model of the ant behaviors that were observed in the experiments. We conducted simulations of the behavioral model that incorporate a quasi-static model of planar manipulation with compliant attachment points. Our simulations qualitatively replicate individual ant activity as well as certain macroscopic features of the transport.

Original languageEnglish (US)
Article number5776638
Pages (from-to)1470-1481
Number of pages12
JournalProceedings of the IEEE
Volume99
Issue number9
DOIs
StatePublished - Sep 2011

Keywords

  • Biological system modeling
  • cooperative manipulation
  • distributed control
  • multirobot systems

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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