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Comparing coordination schemes for miniature robotic swarms: A case study in boundary coverage of regular structures

Publications associées (42)

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We report the faithful reproduction of the self-organized aggregation behavior of the German cockroach Blattella germanica with a group of robots. We describe the implementation of the biological model provided by Jeanson et al. in Alice robots, and we com ...

2008

Coordination schemes for distributed boundary coverage with a swarm of miniature robots

Nicolaus Correll

We provide a comparison of a series of original coordination mechanisms for the distributed boundary coverage problem with a swarm of miniature robots. Our analysis is based on real robot experimentation and models at different levels of abstraction. Distr ...

EPFL2007

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

Robust Distributed Coverage using a Swarm of Miniature Robots

Alcherio Martinoli, Nicolaus Correll

For the multi-robot coverage problem deterministic deliberative as well as probabilistic approaches have been proposed. Whereas deterministic approaches usually provide provable completeness and promise good performance under perfect conditions, probabilis ...

2007

A 1.5g SMA-actuated Microglider looking for the Light

Dario Floreano, André Guignard, Mirko Kovac, Jean-Daniel Nicoud, Jean-Christophe Zufferey

Unpowered flight can be used in microrobotics to overcome ground obstacles and to increase the traveling distance per energy unit. In order to explore the potential of goal-directed gliding in the domain of miniature robotics, we developed a 22cm microglid ...

Ieee Service Center2007

We model the dynamics of self-organized robot aggregation inspired by a study on aggregation of gregarious arthropods. In swarms of German cockroaches, aggregation into clusters emerges solely from local interactions between the individuals, whereas the pr ...

2007

Comparing Coordination Schemes for Miniature Robotic Swarms: A Case Study in Boundary Coverage of Regular Structures

Alcherio Martinoli, Nicolaus Correll, Samuel Rutishauser

We consider boundary coverage of a regular structure by a swarm of miniature robots, and compare a suite of three fully distributed coordination algorithms experimentally. All algorithms rely on boundary coverage by reactive control, whereas coordination o ...

2006

Self-assembly of mobile robots - From swarm-bot to super-mechano colony

Roderich Gross

Up to now, only a few collective or modular robot systems have proven capable of letting separate and autonomous units, or groups of units, self-assemble. In each case, ad hoc control algorithms have been developed. The aim of this paper is to show that a ...

IOS Press2006

We present a series of experiments concerned with the inspection of regular, engineered structures carried out using swarms of five to twenty autonomous, miniature robots, solely endowed with onboard, local sensors. Individual robot controllers are behavio ...

2006

Robot-Animal Interaction: Perception and Behavior of Insbot

Roland Siegwart, Fabien Tâche, Masoud Asadpour, Gilles Caprari, Walter Karlen

This paper describes hardware and behavior implementation of a miniature robot in size of a match box that simulates the behavior of cockroaches in order to establish a social interaction with them. The robot is equipped with two micro-processors dedicated ...

2006