phi Clust: Pheromone-based Aggregation for Robotic Swarms

Arvin F., TURGUT A. E., Krajnik T., Rahimi S., Okay I. E., Yue S., ...Daha Fazla

25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, İspanya, 1 - 05 Ekim 2018, ss.4288-4294 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/iros.2018.8593961
  • Basıldığı Şehir: Madrid
  • Basıldığı Ülke: İspanya
  • Sayfa Sayıları: ss.4288-4294
  • Anahtar Kelimeler: Swarm Robotics, Aggregation, Pheromone, Bio-inspired, CUE-BASED AGGREGATION, DECISION-MAKING, BEHAVIOR
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

In this paper, we proposed a pheromone-based aggregation method based on the state-of-the-art BEECLUST algorithm. We investigated the impact of pheromone-based communication on the efficiency of robotic swarms to locate and aggregate at areas with a given cue. In particular, we evaluated the impact of the pheromone evaporation and diffusion on the time required for the swarm to aggregate. In a series of simulated and real-world evaluation trials, we demonstrated that augmenting the BEECLUST method with artificial pheromone resulted in faster aggregation times.