Spatial macroscopic models of a bio-inspired robotic swarm algorithm

Lade...
Vorschaubild
Dateien
Zu diesem Dokument gibt es keine Dateien.
Datum
2008
Autor:innen
Worn, Heinz
Crailsheim, Karl
Schmickl, Thomas
Herausgeber:innen
Kontakt
ISSN der Zeitschrift
Electronic ISSN
ISBN
Bibliografische Daten
Verlag
Schriftenreihe
Auflagebezeichnung
URI (zitierfähiger Link)
ArXiv-ID
Internationale Patentnummer
Angaben zur Forschungsförderung
Projekt
Open Access-Veröffentlichung
Core Facility der Universität Konstanz
Gesperrt bis
Titel in einer weiteren Sprache
Forschungsvorhaben
Organisationseinheiten
Zeitschriftenheft
Publikationstyp
Beitrag zu einem Konferenzband
Publikationsstatus
Published
Erschienen in
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ: IEEE, 2008, pp. 1415-1420. ISSN 2153-0858. eISSN 2153-0866. ISBN 978-1-4244-2057-5. Available under: doi: 10.1109/IROS.2008.4651038
Zusammenfassung

We present a comparative study of two spatially resolved macroscopic models of an autonomous robotic swarm. In previous experiments, the collective behavior of 15 autonomous swarm robots, driven by a simple bio-inspired control algorithm, was investigated: in two different environmental conditions, the ability of the robots to aggregate below a light source was tested. Distinct approaches to predict the dynamics of the spatial distribution were made by two different modeling approaches: one model was constructed in a compartmental manner (ODEs). In parallel, a space-continuous model (PDEs) was constructed. Both models show a high degree of similarity concerning the modeling of concrete environmental factors (light), but due to their different basic approaches, show also significant differences in their implementation. However, the predictions of both models compare well to the observed behavior of the robotic swarm, thus both models can be used to develop further extensions of the algorithm as well as different experimental setups without the need to run extensive real robotic preliminary experiments.

Zusammenfassung in einer weiteren Sprache
Fachgebiet (DDC)
004 Informatik
Schlagwörter
Konferenz
IROS 2008 : IEEE/RSJ International Conference on Intelligent Robots and Systems, 22. Sep. 2008 - 26. Sep. 2008, Nice, France
Rezension
undefined / . - undefined, undefined
Zitieren
ISO 690HAMANN, Heiko, Heinz WORN, Karl CRAILSHEIM, Thomas SCHMICKL, 2008. Spatial macroscopic models of a bio-inspired robotic swarm algorithm. IROS 2008 : IEEE/RSJ International Conference on Intelligent Robots and Systems. Nice, France, 22. Sep. 2008 - 26. Sep. 2008. In: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ: IEEE, 2008, pp. 1415-1420. ISSN 2153-0858. eISSN 2153-0866. ISBN 978-1-4244-2057-5. Available under: doi: 10.1109/IROS.2008.4651038
BibTex
@inproceedings{Hamann2008Spati-59961,
  year={2008},
  doi={10.1109/IROS.2008.4651038},
  title={Spatial macroscopic models of a bio-inspired robotic swarm algorithm},
  isbn={978-1-4244-2057-5},
  issn={2153-0858},
  publisher={IEEE},
  address={Piscataway, NJ},
  booktitle={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages={1415--1420},
  author={Hamann, Heiko and Worn, Heinz and Crailsheim, Karl and Schmickl, Thomas}
}
RDF
<rdf:RDF
    xmlns:dcterms="http://purl.org/dc/terms/"
    xmlns:dc="http://purl.org/dc/elements/1.1/"
    xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
    xmlns:bibo="http://purl.org/ontology/bibo/"
    xmlns:dspace="http://digital-repositories.org/ontologies/dspace/0.1.0#"
    xmlns:foaf="http://xmlns.com/foaf/0.1/"
    xmlns:void="http://rdfs.org/ns/void#"
    xmlns:xsd="http://www.w3.org/2001/XMLSchema#" > 
  <rdf:Description rdf:about="https://kops.uni-konstanz.de/server/rdf/resource/123456789/59961">
    <dc:rights>terms-of-use</dc:rights>
    <dspace:isPartOfCollection rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/36"/>
    <dcterms:title>Spatial macroscopic models of a bio-inspired robotic swarm algorithm</dcterms:title>
    <dc:contributor>Schmickl, Thomas</dc:contributor>
    <void:sparqlEndpoint rdf:resource="http://localhost/fuseki/dspace/sparql"/>
    <dc:contributor>Worn, Heinz</dc:contributor>
    <dc:creator>Worn, Heinz</dc:creator>
    <dcterms:rights rdf:resource="https://rightsstatements.org/page/InC/1.0/"/>
    <dc:contributor>Crailsheim, Karl</dc:contributor>
    <dc:creator>Crailsheim, Karl</dc:creator>
    <dc:creator>Hamann, Heiko</dc:creator>
    <foaf:homepage rdf:resource="http://localhost:8080/"/>
    <dcterms:isPartOf rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/36"/>
    <dcterms:abstract xml:lang="eng">We present a comparative study of two spatially resolved macroscopic models of an autonomous robotic swarm. In previous experiments, the collective behavior of 15 autonomous swarm robots, driven by a simple bio-inspired control algorithm, was investigated: in two different environmental conditions, the ability of the robots to aggregate below a light source was tested. Distinct approaches to predict the dynamics of the spatial distribution were made by two different modeling approaches: one model was constructed in a compartmental manner (ODEs). In parallel, a space-continuous model (PDEs) was constructed. Both models show a high degree of similarity concerning the modeling of concrete environmental factors (light), but due to their different basic approaches, show also significant differences in their implementation. However, the predictions of both models compare well to the observed behavior of the robotic swarm, thus both models can be used to develop further extensions of the algorithm as well as different experimental setups without the need to run extensive real robotic preliminary experiments.</dcterms:abstract>
    <bibo:uri rdf:resource="https://kops.uni-konstanz.de/handle/123456789/59961"/>
    <dc:language>eng</dc:language>
    <dc:date rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2023-01-26T15:46:56Z</dc:date>
    <dcterms:available rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2023-01-26T15:46:56Z</dcterms:available>
    <dc:contributor>Hamann, Heiko</dc:contributor>
    <dcterms:issued>2008</dcterms:issued>
    <dc:creator>Schmickl, Thomas</dc:creator>
  </rdf:Description>
</rdf:RDF>
Interner Vermerk
xmlui.Submission.submit.DescribeStep.inputForms.label.kops_note_fromSubmitter
Kontakt
URL der Originalveröffentl.
Prüfdatum der URL
Prüfungsdatum der Dissertation
Finanzierungsart
Kommentar zur Publikation
Allianzlizenz
Corresponding Authors der Uni Konstanz vorhanden
Internationale Co-Autor:innen
Universitätsbibliographie
Nein
Begutachtet
Diese Publikation teilen