Cellular Automata Applications in Shortest Path Problem

Cellular Automata (CAs) are computational models that can capture the essential features of systems in which global behavior emerges from the collective effect of simple components, which interact locally. During the last decades, CAs have been extensively used for mimicking several natural processes and systems to find fine solutions in many complex hard to solve computer science and engineering problems. Among them, the shortest path problem is one of the most pronounced and highly studied problems that scientists have been trying to tackle by using a plethora of methodologies and even unconventional approaches. The proposed solutions are mainly justified by their ability to provide a correct solution in a better time complexity than the renowned Dijkstra's algorithm. Although there is a wide variety regarding the algorithmic complexity of the algorithms suggested, spanning from simplistic graph traversal algorithms to complex nature inspired and bio-mimicking algorithms, in this chapter we focus on the successful application of CAs to shortest path problem as found in various diverse disciplines like computer science, swarm robotics, computer networks, decision science and biomimicking of biological organisms' behaviour. In particular, an introduction on the first CA-based algorithm tackling the shortest path problem is provided in detail. After the short presentation of shortest path algorithms arriving from the relaxization of the CAs principles, the application of the CA-based shortest path definition on the coordinated motion of swarm robotics is also introduced. Moreover, the CA based application of shortest path finding in computer networks is presented in brief. Finally, a CA that models exactly the behavior of a biological organism, namely the Physarum's behavior, finding the minimum-length path between two points in a labyrinth is given.Comment: To appear in the book: Adamatzky, A (Ed.) Shortest path solvers. From software to wetware. Springer, 201

Modular Self-Reconfigurable Robot Systems

The field of modular self-reconfigurable robotic systems addresses the design, fabrication, motion planning, and control of autonomous kinematic machines with variable morphology. Modular self-reconfigurable systems have the promise of making significant technological advances to the field of robotics in general. Their promise of high versatility, high value, and high robustness may lead to a radical change in automation. Currently, a number of researchers have been addressing many of the challenges. While some progress has been made, it is clear that many challenges still exist. By illustrating several of the outstanding issues as grand challenges that have been collaboratively written by a large number of researchers in this field, this article has shown several of the key directions for the future of this growing fiel

Hardware Architecture Review of Swarm Robotics System: Self-Reconfigurability, Self-Reassembly, and Self-Replication

Swarm robotics is one of the most fascinating and new research areas of recent decades, and one of the grand challenges of robotics is the design of swarm robots that are self-sufficient. This can be crucial for robots exposed to environments that are unstructured or not easily accessible for a human operator, such as the inside of a blood vessel, a collapsed building, the deep sea, or the surface of another planet. In this paper, we present a comprehensive study on hardware architecture and several other important aspects of modular swarm robots, such as self-reconfigurability, self-replication, and self-assembly. The key factors in designing and building a group of swarm robots are cost and miniaturization with robustness, flexibility, and scalability. In robotics intelligence, self-assembly and self-reconfigurability are among the most important characteristics as they can add additional capabilities and functionality to swarm robots. Simulation and model design for swarm robotics is highly complex and expensive, especially when attempting to model the behavior of large swarm robot groups.http://dx.doi.org/10.5402/2013/84960

Embodied Evolution in Collective Robotics: A Review

This paper provides an overview of evolutionary robotics techniques applied to on-line distributed evolution for robot collectives -- namely, embodied evolution. It provides a definition of embodied evolution as well as a thorough description of the underlying concepts and mechanisms. The paper also presents a comprehensive summary of research published in the field since its inception (1999-2017), providing various perspectives to identify the major trends. In particular, we identify a shift from considering embodied evolution as a parallel search method within small robot collectives (fewer than 10 robots) to embodied evolution as an on-line distributed learning method for designing collective behaviours in swarm-like collectives. The paper concludes with a discussion of applications and open questions, providing a milestone for past and an inspiration for future research.Comment: 23 pages, 1 figure, 1 tabl

An annotated bibligraphy of multisensor integration

technical reportIn this paper we give an annotated bibliography of the multisensor integration literature

Adaptive Multi-Functional Space Systems for Micro-Climate Control

This report summarizes the work done during the Adaptive Multifunctional Systems for Microclimate Control Study held at the Caltech Keck Institute for Space Studies (KISS) in 2014-2015. Dr. Marco Quadrelli (JPL), Dr. James Lyke (AFRL), and Prof. Sergio Pellegrino (Caltech) led the Study, which included two workshops: the first in May of 2014, and another in February of 2015. The Final Report of the Study presented here describes the potential relevance of adaptive multifunctional systems for microclimate control to the missions outlined in the 2010 NRC Decadal Survey. The objective of the Study was to adapt the most recent advances in multifunctional reconfigurable and adaptive structures to enable a microenvironment control to support space exploration in extreme environments (EE). The technical goal was to identify the most efficient materials, architectures, structures and means of deployment/reconfiguration, system autonomy and energy management solutions needed to optimally project/generate a micro-environment around space assets. For example, compact packed thin-layer reflective structures unfolding to large areas can reflect solar energy, warming and illuminating assets such as exploration rovers on Mars or human habitats on the Moon. This novel solution is called an energy-projecting multifunctional system (EPMFS), which are composed of Multifunctional Systems (MFS) and Energy-Projecting Systems (EPS)

Recent Advances in Multi Robot Systems

To design a team of robots which is able to perform given tasks is a great concern of many members of robotics community. There are many problems left to be solved in order to have the fully functional robot team. Robotics community is trying hard to solve such problems (navigation, task allocation, communication, adaptation, control, ...). This book represents the contributions of the top researchers in this field and will serve as a valuable tool for professionals in this interdisciplinary field. It is focused on the challenging issues of team architectures, vehicle learning and adaptation, heterogeneous group control and cooperation, task selection, dynamic autonomy, mixed initiative, and human and robot team interaction. The book consists of 16 chapters introducing both basic research and advanced developments. Topics covered include kinematics, dynamic analysis, accuracy, optimization design, modelling, simulation and control of multi robot systems