Publikation:

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

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2007

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Szymanski, Mare
Worn, Heinz

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https://doi.org/10.1109/SIS.2007.367953
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SHI, Yuhui, ed., Marco DORIGO, ed.. IEEE Swarm Intelligence Symposium (SIS2007). Piscataway, NJ: IEEE, 2007, pp. 310-315. ISBN 1-4244-0708-7. Available under: doi: 10.1109/SIS.2007.367953

Zusammenfassung

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

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004 Informatik

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SIS07 : 2007 IEEE Swarm Intelligence Symposium, 1. Apr. 2007 - 5. Apr. 2007, Honolulu, HI, USA
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ISO 690HAMANN, 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, 1. Apr. 2007 - 5. Apr. 2007. In: SHI, Yuhui, ed., Marco DORIGO, ed.. IEEE Swarm Intelligence Symposium (SIS2007). Piscataway, NJ: IEEE, 2007, 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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