Collective Perception of Environmental Features in a Robot Swarm

Valentini, Gabriele; Brambilla, Davide; Hamann, Heiko; Dorigo, Marco

Collective Perception of Environmental Features in a Robot Swarm

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Date

2016

Authors

Valentini, Gabriele

Brambilla, Davide

Hamann, Heiko

Dorigo, Marco

Publication type

Contribution to a conference collection

Publication status

Published

Published in

Swarm Intelligence : 10th International Conference, ANTS 2016, Brussels, Belgium, September 7-9, 2016, Proceedings / Dorigo, Marco; Birattari, Mauro; Li, Xiaodong; López-Ibáñez, Manuel; Ohkura, Kazuhiro; Pinciroli, Carlo; Stützle, Thomas (ed.). - Cham : Springer, 2016. - (Lecture Notes in Computer Science ; 9882). - pp. 65-76. - ISSN 0302-9743. - eISSN 1611-3349. - ISBN 978-3-319-44426-0

Abstract

In order to be effective, collective decision-making strategies need to be not only fast and accurate, but sufficiently general to be ported and reused across different problem domains. In this paper, we propose a novel problem scenario, collective perception, and use it to compare three different strategies: the DMMD, DMVD, and DC strategies. The robots are required to explore their environment, estimate the frequency of certain features, and collectively perceive which feature is the most frequent. We implemented the collective perception scenario in a swarm robotics system composed of 20 e-pucks and performed robot experiments with all considered strategies. Additionally, we also deepened our study by means of physics-based simulations. The results of our performance comparison in the collective perception scenario are in agreement with previous results for a different problem domain and support the generality of the considered strategies.

Subject (DDC)

004 Computer Science

Keywords

Quality Estimate, Dissemination State, Voter Model, Exploration State, Swarm Size

Conference

ANTS 2016 : 10th International Conference on Swarm Intellingence, Sep 7, 2016 - Sep 9, 2016, Brussels, Belgium

Cite This

ISO 690

VALENTINI, Gabriele, Davide BRAMBILLA, Heiko HAMANN, Marco DORIGO, 2016. Collective Perception of Environmental Features in a Robot Swarm. ANTS 2016 : 10th International Conference on Swarm Intellingence. Brussels, Belgium, Sep 7, 2016 - Sep 9, 2016. In: DORIGO, Marco, ed., Mauro BIRATTARI, ed., Xiaodong LI, ed., Manuel LÓPEZ-IBÁÑEZ, ed., Kazuhiro OHKURA, ed., Carlo PINCIROLI, ed., Thomas STÜTZLE, ed.. Swarm Intelligence : 10th International Conference, ANTS 2016, Brussels, Belgium, September 7-9, 2016, Proceedings. Cham:Springer, pp. 65-76. ISSN 0302-9743. eISSN 1611-3349. ISBN 978-3-319-44426-0. Available under: doi: 10.1007/978-3-319-44427-7_6

BibTex

@inproceedings{Valentini2016Colle-66016,
  year={2016},
  doi={10.1007/978-3-319-44427-7_6},
  title={Collective Perception of Environmental Features in a Robot Swarm},
  number={9882},
  isbn={978-3-319-44426-0},
  issn={0302-9743},
  publisher={Springer},
  address={Cham},
  series={Lecture Notes in Computer Science},
  booktitle={Swarm Intelligence : 10th International Conference, ANTS 2016, Brussels, Belgium, September 7-9, 2016, Proceedings},
  pages={65--76},
  editor={Dorigo, Marco and Birattari, Mauro and Li, Xiaodong and López-Ibáñez, Manuel and Ohkura, Kazuhiro and Pinciroli, Carlo and Stützle, Thomas},
  author={Valentini, Gabriele and Brambilla, Davide and Hamann, Heiko and Dorigo, Marco}
}

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