Concept

Ant robotics

Publications associées (119)

Towards Group Transport by Swarms of Robots

We examine the ability of a swarm robotic system to transport cooperatively objects of different shapes and sizes. We simulate a group of autonomous mobile robots that can physically connect to each other and to the transported object. Controllers — artifi ...

2009

Distributed Scalable Multi-Robot Learning using Particle Swarm Optimization

Alcherio Martinoli, James Pugh

Designing effective behavioral controllers for mobile robots can be difficult and tedious; this process can be circumvented by using online learning techniques which allow robots to generate their own controllers online in an automated fash- ion. In multi- ...

2009

Scripting the swarm: event-based control of microcontroller-based robots.

Francesco Mondada, Stéphane Magnenat, Philippe Rétornaz, Basilio Noris

Swarm robotics in real world requires a large number of robots and thus enough room for experimentation. Therefore, to implement such experiments with limited budget, robots should be compact and low cost, which entails the use of microcontroller-based min ...

2008

Dynamic Control of a Robotic Swarm using a Service-Oriented Architecture

Christopher Cianci, Vlad Trifa

The development, deployment, and control of groups of robots is a tedious process even for experienced roboticists. Particularly in heterogeneous systems a high granularity of control and visibility is difficult to achieve. The lack of standardized interfa ...

2008

A Comparison of Casting and Spiraling Algorithms for Odor Source Localization in Laminar Flow

Alcherio Martinoli, Thomas Lochmatter, Xavier Raemy, Saurabh Indra

We compare two well-known algorithms for locating odor sources in environments with a main wind flow. Their plume tracking performance is tested through systematic experiments with real robots in a wind tunnel under laminar flow condition. We present the s ...

2008

Tracking an Odor Plume in a Laminar Wind Field with the Crosswind-Surge Algorithm

Alcherio Martinoli, Thomas Lochmatter

We introduce a novel bio-inspired odor source localization algorithm (surge-cast) for environments with a main wind flow and compare it to two well- known algorithms. With all three algorithms, systematic experiments with real robots are carried out in a w ...

2008

Simulation Experiments with Bio-Inspired Algorithms for Odor Source Localization in Laminar Wind Flow

Alcherio Martinoli, Thomas Lochmatter

We compare three bio-inspired odor source localization algorithm (casting, surge-spiral and surge-cast) for environments with a main wind flow in simulation. The wind flow is laminar and the simulation setup similar to the setup in the wind tunnel in which ...

IEEE2008

A Challenging Application in Swarm Robotics: The Autonomous Inspection of Complex Engineered Structures

Alcherio Martinoli, Nicolaus Correll

This paper gives a high-level overview of our research concerning swarm-intelligent inspection systems for turbine inspection. ...

2007

Evolution of cooperation in artificial ants

Markus Waibel

The evolution of cooperation is a fundamental and enduring puzzle in biology and the social sciences. Hundreds of theoretical models have been proposed, but empirical research has been hindered by the generation time of social organisms and by the difficul ...

EPFL2007

A Generic Mean Field Convergence Result for Systems of Interacting Objects

Jean-Yves Le Boudec, Jochen Mundinger

We consider a model for interacting objects, where the evolution of each object is given by a finite state Markov chain, whose transition matrix depends on the present and the past of the distribution of states of all objects. This is a general model of wi ...

2007

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