The dynamics of collective sorting robot-like ants and ant-like robots

@inproceedings{Deneubourg1991TheDO,
  title={The dynamics of collective sorting robot-like ants and ant-like robots},
  author={J. L. Deneubourg and Simon Goss and Nigel R. Franks and Ana B. Sendova-Franks and Claire Detrain and Louis Chretien},
  year={1991}
}
A distributed sorting algorithm, inspired by how ant colonies sort their brood. is presented for use by robot teams. The robots move randomly, do not communicate. have no hierarchical organisation, have no global representation. can only perceive objects just in front of them, but can distinguish between objects of two or more types with a certain degree of error. The probability that they pick up or put down an object is modulated as a function of how many of the same objects they have met in… 

Figures from this paper

Collective Sorting with Multiple Robots
  • Tao Wang, Hong Zhang
  • Computer Science
    2004 IEEE International Conference on Robotics and Biomimetics
  • 2004
TLDR
This work empirically demonstrates that its control algorithm is able to create a complete separation of objects of two different classes, and shows the robust convergence of the sorting process, which previous algorithms could not achieve.
Ant-inspired sorting by robots: the importance of initial clustering
TLDR
Results from ant experiments showed that sorting is carried out in two phases: a primary clustering episode followed by a spacing phase, which strongly suggests that clustering may also be a precondition for spacing in ants.
Multi-Robot Collective Sorting with Local Sensing
TLDR
This paper extends the previous sorting work by defining a quantitative task performance metric and proposing a model to explain the observations during the sorting process, and conjecture that the swarm performance is not initial configuration sensitive with the behavioral strategy for robots.
Cache consensus: rapid object sorting by a robotic swarm
TLDR
This work investigates whether the ability of each robot to localise and return to remembered places can improve distributed sorting performance and results indicate that incorporating this localisation capability enables a significant improvement in the rate of convergence.
Rapid object sorting by a robotic swarm via cache consensus
TLDR
This work investigates whether the ability of each robot to localize and return to remembered places can improve distributed sorting performance and indicates that incorporating this localization capability enables a significant improvement in the rate of convergence.
From local actions to global tasks: simulation of stigmergy based foraging behavior
  • D. Tsankova, V.S. Georgieva
  • Computer Science
    2004 2nd International IEEE Conference on 'Intelligent Systems'. Proceedings (IEEE Cat. No.04EX791)
  • 2004
TLDR
Using a simple behavioral rule set, and having no capacity for spatial orientation or memory, the robots are able to achieve effective clustering, showing a self-organization process.
Autonomous foraging with a pack of robots based on repulsion, attraction and influence
TLDR
The RAOI approach is extended, proposing multiple influence stimuli that are activated in a finite state machine, which is implemented in each individual without affecting swarm decentralized properties.
From local actions to global tasks: stigmergy and collective robotics
TLDR
This paper presents a series of experiments where a group of mobile robots gather 81 randomly distributed objects and cluster them into one pile through stigmergy, a principle which allows indirect communication between agents through sensing and modification of the local environment which determines the agents’ behaviour.
Spatial self-organization in large populations of mobile robots
  • C. Unsal, J. Bay
  • Computer Science
    Proceedings of 1994 9th IEEE International Symposium on Intelligent Control
  • 1994
TLDR
The self-organizing characteristic of the swarm provide a modular, adaptive and dynamic system that is useful when a central controller is not feasible and split such a population into groups around goals by communicating minimal data.
Exploiting physical constraints: heap formation through behavioral error in a group of robots
  • M. Maris, René Boeckhorst
  • Computer Science
    Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96
  • 1996
TLDR
It is found that a limited amount of mutual interference is crucial for the fusion of clusters; hence large, single heaps did never emerge in trials with just one robot, however, with more than 4 robots the heap building process slows down due to increased mutual avoidance movements.
...
...

References

SHOWING 1-10 OF 21 REFERENCES
How Trail Laying and Trail Following Can Solve Foraging Problems for Ant Colonies
TLDR
It is shown that trail laying and trail following behaviour are more than just a means of communicating a food source’s location and can lead to the collective selection of the shortest path or the best food source, despite the fact that individual foragers have no means of making such choices.
Functional Self-Organisation Illustrated by Inter-Nest Traffic in Ants: The Case of the Argentine Ant
TLDR
The formation of inter-nest networks was studied with laboratory colonies of the Argentine ant Iridomyrmex humilis indicating a primary role of chemical cues with respect to memory or visual cues and Visual cues appear not to be essential as similar networks were generated both in light and darkness.
Collective patterns and decision-making
Autocatalytic interactions between the members of an animal group or society, and particularly chemically or visually mediated allelomimesis, can be an important factor in the organisation of their
The concept of cellular robotic system
  • G. Beni
  • Computer Science
    Proceedings IEEE International Symposium on Intelligent Control 1988
  • 1988
The author discusses the conceptual basis for the theory and engineering of a new type of robotic system. The system is composed of autonomous robotic units which accomplish tasks in cooperation.
Cooperation between distributed agents through self-organisation
  • L. Steels
  • Computer Science
    EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications
  • 1990
The paper uses a behavior-based approach to tackle the problem of cooperation between distributed agents. It focuses on the use of self-organisation and dissipative structures to establish emergent
Sensing Strategies in Cellular Robotic Systems
...
...