Orientation in a Trail Network by Exploiting its Geometry for Swarm Robotics

Hamann, Heiko; Szymanski, Mare; Worn, Heinz

Orientation in a Trail Network by Exploiting its Geometry for Swarm Robotics

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Date

2007

Authors

Hamann, Heiko

Szymanski, Mare

Worn, Heinz

Publication type

Contribution to a conference collection

Publication status

Published

Published in

IEEE Swarm Intelligence Symposium (SIS2007) / Shi, Yuhui; Dorigo, Marco (ed.). - Piscataway, NJ : IEEE, 2007. - pp. 310-315. - ISBN 1-4244-0708-7

Abstract

Two control algorithms for a swarm robot are presented that enable it to orientate itself by using information from the geometry of trail bifurcations within a trail network. The development of these algorithms was inspired by the behavior of Pharaoh's ants as reported by Jackson et al., 2004. The performance of the robot is analyzed in a large number of embodied experiments with different bifurcation angles. The reactive behavior implemented by simple rules is sufficient to accomplish this task using a robot of limited capabilities. The frequency of correct reorientations is maximized when the trail bifurcation angle is 60 degrees, as found in natural networks

Subject (DDC)

004 Computer Science

Conference

SIS07 : 2007 IEEE Swarm Intelligence Symposium, Apr 1, 2007 - Apr 5, 2007, Honolulu, HI, USA

Cite This

ISO 690

HAMANN, Heiko, Mare SZYMANSKI, Heinz WORN, 2007. Orientation in a Trail Network by Exploiting its Geometry for Swarm Robotics. SIS07 : 2007 IEEE Swarm Intelligence Symposium. Honolulu, HI, USA, Apr 1, 2007 - Apr 5, 2007. In: SHI, Yuhui, ed., Marco DORIGO, ed.. IEEE Swarm Intelligence Symposium (SIS2007). Piscataway, NJ:IEEE, pp. 310-315. ISBN 1-4244-0708-7. Available under: doi: 10.1109/SIS.2007.367953

BibTex

@inproceedings{Hamann2007Orien-59962,
  year={2007},
  doi={10.1109/SIS.2007.367953},
  title={Orientation in a Trail Network by Exploiting its Geometry for Swarm Robotics},
  isbn={1-4244-0708-7},
  publisher={IEEE},
  address={Piscataway, NJ},
  booktitle={IEEE Swarm Intelligence Symposium (SIS2007)},
  pages={310--315},
  editor={Shi, Yuhui and Dorigo, Marco},
  author={Hamann, Heiko and Szymanski, Mare and Worn, Heinz}
}

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