Cooperative Hole Avoidance in a Swarm-bot. (Articolo in rivista)

Type
Label
  • Cooperative Hole Avoidance in a Swarm-bot. (Articolo in rivista) (literal)
Anno
  • 2006-01-01T00:00:00+01:00 (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#doi
  • 10.1016/j.robot.2005.09.018 (literal)
Alternative label
  • Trianni V., Nolfi S., Dorigo M. (2006)
    Cooperative Hole Avoidance in a Swarm-bot.
    in Robotics and autonomous systems (Print)
    (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#autori
  • Trianni V., Nolfi S., Dorigo M. (literal)
Pagina inizio
  • 97 (literal)
Pagina fine
  • 103 (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#url
  • http://www.sciencedirect.com/science/article/pii/S0921889005001478 (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#numeroVolume
  • 54 (literal)
Rivista
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#pagineTotali
  • 7 (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#numeroFascicolo
  • 2 (literal)
Note
  • Google Scholar (literal)
  • ISI Web of Science (WOS) (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#affiliazioni
  • 1. Univ Libre Bruxelles, IRIDIA, Brussels, Belgium 2. CNR, Inst Cognit Sci & Technol, Rome, Italy (literal)
Titolo
  • Cooperative Hole Avoidance in a Swarm-bot. (literal)
Abstract
  • In this paper, we Study coordinated motion in a swarm robotic system, called a swarm-bot. A swann-bot is a self-assembling and self-organising artifact, composed of a swarm of s-bots, mobile robots with the ability to connect to and disconnect from each other. The swann-bot concept is particularly suited for tasks that require all-terrain navigation abilities, such as space exploration or rescue in collapsed buildings. As a first step toward the development of more complex control strategies, we investigate the case in which a swarm-bot has to explore an arena while avoiding falling into holes. In such a scenario, individual s-bots have sensory-motor limitations that prevent them navigating efficiently. These limitations can be overcome if the s-bots are made to cooperate. In particular, we exploit the s-bots' ability to physically connect to each other. In order to synthesise the s-bots' controller, we rely on artificial evolution, which we show to be a powerful tool for the production of simple and effective solutions to the hole avoidance task. (literal)
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