Publication detail

Immune Navigation Control for Stigmergy based Foraging Behaviour of Autonomous Mobile Robots

BRADÁČ, Z., ZEZULKA, F.

Original Title

Immune Navigation Control for Stigmergy based Foraging Behaviour of Autonomous Mobile Robots

Czech Title

Odolná navigace pro sklízecí autonomní roboty

English Title

Immune Navigation Control for Stigmergy based Foraging Behaviour of Autonomous Mobile Robots

Type

conference paper

Language

en

Original Abstract

The paper presents a series of experiments in a simulated environment where two autonomous mobile robots gather randomly distributed objects and cluster them into one pile. The coordination of the robots' movements is achieved through stigmergy (an indirect form of communication through the environment). In order to avoid the drawback of the random moves, necessary for stigmergy based foraging behaviour, the perceptive capabilities of the robots are enhanced by detectors for concentration of objects. An artificial immune network carries out the collision free goal following behaviour. Simulations confirm the improved performance of the foraging behaviour under the proposed immune navigation control. Copyright

Czech abstract

Článek popisuje experimenty se dvěmi roboty, kteří sbírají náhodně rozmístěné objekty a shromažďují je na vyhrazené místo.

English abstract

The paper presents a series of experiments in a simulated environment where two autonomous mobile robots gather randomly distributed objects and cluster them into one pile. The coordination of the robots' movements is achieved through stigmergy (an indirect form of communication through the environment). In order to avoid the drawback of the random moves, necessary for stigmergy based foraging behaviour, the perceptive capabilities of the robots are enhanced by detectors for concentration of objects. An artificial immune network carries out the collision free goal following behaviour. Simulations confirm the improved performance of the foraging behaviour under the proposed immune navigation control. Copyright

Keywords

foraging behaviour, stigmergy, immune network, autonomous mobile robot

RIV year

2005

Released

02.07.2005

Publisher

IFAC

Location

Praha

Pages from

1

Pages to

6

Pages count

6

BibTex


@inproceedings{BUT14884,
  author="Zdeněk {Bradáč} and František {Zezulka} and Velichka {Georgieva} and Diana {Tsankova}",
  title="Immune Navigation Control for Stigmergy based Foraging Behaviour of Autonomous Mobile Robots",
  annote="The paper presents a series of experiments in a simulated environment where
two autonomous mobile robots gather randomly distributed objects and cluster them
into one pile. The coordination of the robots' movements is achieved through stigmergy
(an indirect form of communication through the environment). In order to avoid the
drawback of the random moves, necessary for stigmergy based foraging behaviour, the
perceptive capabilities of the robots are enhanced by detectors for concentration of
objects. An artificial immune network carries out the collision free goal following
behaviour. Simulations confirm the improved performance of the foraging behaviour
under the proposed immune navigation control. Copyright",
  address="IFAC",
  booktitle="Proc. of the 16th IFAC World Congres",
  chapter="14884",
  institution="IFAC",
  year="2005",
  month="july",
  pages="1",
  publisher="IFAC",
  type="conference paper"
}