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Istituto di scienze e tecnologie della cognizione

Torna all'elenco Contributi in rivista anno 2011

Contributo in rivista

Tipo: Articolo in rivista

Titolo: Self-organised path formation in a swarm of robots

Anno di pubblicazione: 2011

Autori: Sperati, Valerio ; Trianni, Vito ; Nolfi, Stefano

Affiliazioni autori: CNR-ISTC, Roma1-SanMartino

Autori CNR:

  • STEFANO NOLFI
  • VALERIO SPERATI
  • VITO TRIANNI

Lingua: inglese

Abstract: In this paper, we study the problem of exploration and navigation in an unknown environment from an evolutionary swarm robotics perspective. In other words, we search for an efficient exploration and navigation strategy for a swarm of robots, which exploits cooperation and self-organisation to cope with the limited abilities of the individual robots. The task faced by the robots consists in the exploration of an unknown environment in order to find a path between two distant target areas. The collective strategy is synthesised through evolutionary robotics techniques, and is based on the emergence of a dynamic structure formed by the robots moving back and forth between the two target areas. Due to this structure, each robot is able to maintain the right heading and to efficiently navigate between the two areas. The evolved behaviour proved to be effective in finding the shortest path, adaptable to new environmental conditions, scalable to larger groups and larger environment size, and robust to individual failures.

Lingua abstract: inglese

Pagine da: 97

Pagine a: 119

Rivista:

Swarm intelligence Springer Science + Business Media Inc.
Paese di pubblicazione: Stati Uniti d'America
Lingua: inglese
ISSN: 1935-3812

Numero volume: 5

Numero fascicolo: 2

DOI: 10.1007/s11721-011-0055-y

Parole chiave:

  • evolutionary robotics
  • swarm robotics
  • self-organisation
  • path formation

URL: http://www.springerlink.com/content/k557v622k23xt005/

Altre informazioni: ID_PUMA: /cnr.istc/2011-A0-072. - Rivista pubblicata anche online (ISSN 1935-3820). - Area di valutazione 09 - Ingegneria industriale e informatica

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