Srocs: Leveraging stigmergy on a multi-robot construction platform for unknown environments

被引：26

作者：

Allwright, Michael ^{[1
]}

Bhalla, Navneet ^{[2
]}

El-faham, Haitham ^{[1
]}

Antoun, Anthony ^{[3
]}

Pinciroli, Carlo ^{[3
]}

Dorigo, Marco ^{[1
]}

Dorigo, Marco ^{[3
]}

机构：

[1] Department of Computer Science, University of Paderborn, Paderborn

[2] Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY

[3] IRIDIA, Université Libre de Bruxelles, Brussels

来源：

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) | 2014年 / 8667卷

关键词：

Machine design - Industrial robots - Swarm intelligence - Multipurpose robots;

D O I：

10.1007/978-3-319-09952-1_14

中图分类号：

学科分类号：

摘要：

Current implementations of decentralized multi-robot construction systems are limited to construction of rudimentary structures such as walls and clusters, or rely on the use of blueprints for regulation. Building processes that make use of blueprints are unattractive in unknown environments as they can not compensate for heterogeneities, such as irregular terrain. In nature, social insects coordinate the construction of their nests using stigmergy, a mechanism of indirect coordination that is robust and adaptive. In this paper, we propose the design of a multi-robot construction platform called the Swarm Robotics Construction System (SRoCS). The SRoCS platform is designed to leverage stigmergy in order to coordinate multi-robot construction in unknown environments. © Springer International Publishing Switzerland 2014.

引用

页码：158 / 169

页数：11

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