Adaptive Path Formation in Self-Assembling Robot Swarms by Tree-Like Vascular Morphogenesis

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2019
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Divband Soorati, Mohammad
Zahadat, Payam
Ghofrani, Javad
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CORRELL, Nikolaus, ed., Mac SCHWAGER, ed., Michael OTTE, ed.. Distributed Autonomous Robotic Systems : The 14th International Symposium. Cham: Springer, 2019, pp. 299-311. Springer Proceedings in Advanced Robotics (SPAR). 9. ISSN 2511-1256. eISSN 2511-1264. ISBN 978-3-030-05815-9. Available under: doi: 10.1007/978-3-030-05816-6_21
Zusammenfassung

For self-assembly, robot swarms can be programmed to form predefined shapes. However, if the swarm is required to adapt the assembled shapes to dynamic features of the environment at runtime, then the shapes’ structures need to be dynamic, too. A prerequisite for adaptation is the exploration and detection of changes followed by appropriate rearrangements of the assembled structure. We study a robot swarm that forms trees to explore its environment and searches for bright areas. The tree-formation process is inspired by the vascular morphogenesis of natural plants. The detection of light produces a virtual resource shared within the tree, helping to drop useless branches while reinforcing efficient paths between the bright areas and the tree root. We successfully verify our approach with several swarm robot experiments in a dynamic environment, showing that the robot swarm can collectively discriminate between light sources at different distances and of different qualities.

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004 Informatik
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Swarm robotics, Bio-inpsired algorithms, Self-assembly, Self-adaptive
Konferenz
DARS 2018 : 14th International Symposium on Distributed Autonomous Robotic Systems, 15. Okt. 2018 - 17. Okt. 2018, Boulder, USA
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ISO 690DIVBAND SOORATI, Mohammad, Payam ZAHADAT, Javad GHOFRANI, Heiko HAMANN, 2019. Adaptive Path Formation in Self-Assembling Robot Swarms by Tree-Like Vascular Morphogenesis. DARS 2018 : 14th International Symposium on Distributed Autonomous Robotic Systems. Boulder, USA, 15. Okt. 2018 - 17. Okt. 2018. In: CORRELL, Nikolaus, ed., Mac SCHWAGER, ed., Michael OTTE, ed.. Distributed Autonomous Robotic Systems : The 14th International Symposium. Cham: Springer, 2019, pp. 299-311. Springer Proceedings in Advanced Robotics (SPAR). 9. ISSN 2511-1256. eISSN 2511-1264. ISBN 978-3-030-05815-9. Available under: doi: 10.1007/978-3-030-05816-6_21
BibTex
@inproceedings{DivbandSoorati2019Adapt-59797,
  year={2019},
  doi={10.1007/978-3-030-05816-6_21},
  title={Adaptive Path Formation in Self-Assembling Robot Swarms by Tree-Like Vascular Morphogenesis},
  number={9},
  isbn={978-3-030-05815-9},
  issn={2511-1256},
  publisher={Springer},
  address={Cham},
  series={Springer Proceedings in Advanced Robotics (SPAR)},
  booktitle={Distributed Autonomous Robotic Systems : The 14th International Symposium},
  pages={299--311},
  editor={Correll, Nikolaus and Schwager, Mac and Otte, Michael},
  author={Divband Soorati, Mohammad and Zahadat, Payam and Ghofrani, Javad and Hamann, Heiko}
}
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