6,798 research outputs found
Towards human control of robot swarms
In this paper we investigate principles of swarm control that enable a human operator to exert influence on and control large swarms of robots. We present two principles, coined selection and beacon control, that differ with respect to their temporal and spatial persistence. The former requires active selection of groups of robots while the latter exerts a passive influence on nearby robots. Both principles are implemented in a testbed in which operators exert influence on a robot swarm by switching between a set of behaviors ranging from trivial behaviors up to distributed autonomous algorithms. Performance is tested in a series of complex foraging tasks in environments with different obstacles ranging from open to cluttered and structured. The robotic swarm has only local communication and sensing capabilities with the number of robots ranging from 50 to 200. Experiments with human operators utilizing either selection or beacon control are compared with each other and to a simple autonomous swarm with regard to performance, adaptation to complex environments, and scalability to larger swarms. Our results show superior performance of autonomous swarms in open environments, of selection control in complex environments, and indicate a potential for scaling beacon control to larger swarms
Robotic Wireless Sensor Networks
In this chapter, we present a literature survey of an emerging, cutting-edge,
and multi-disciplinary field of research at the intersection of Robotics and
Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor
Networks (RWSN). We define a RWSN as an autonomous networked multi-robot system
that aims to achieve certain sensing goals while meeting and maintaining
certain communication performance requirements, through cooperative control,
learning and adaptation. While both of the component areas, i.e., Robotics and
WSN, are very well-known and well-explored, there exist a whole set of new
opportunities and research directions at the intersection of these two fields
which are relatively or even completely unexplored. One such example would be
the use of a set of robotic routers to set up a temporary communication path
between a sender and a receiver that uses the controlled mobility to the
advantage of packet routing. We find that there exist only a limited number of
articles to be directly categorized as RWSN related works whereas there exist a
range of articles in the robotics and the WSN literature that are also relevant
to this new field of research. To connect the dots, we first identify the core
problems and research trends related to RWSN such as connectivity,
localization, routing, and robust flow of information. Next, we classify the
existing research on RWSN as well as the relevant state-of-the-arts from
robotics and WSN community according to the problems and trends identified in
the first step. Lastly, we analyze what is missing in the existing literature,
and identify topics that require more research attention in the future
Human Swarm Interaction: An Experimental Study of Two Types of Interaction with Foraging Swarms
In this paper we present the first study of human-swarm interaction comparing two fundamental types of interaction, coined intermittent and environmental. These types are exemplified by two control methods, selection and beacon control, made available to a human operator to control a foraging swarm of robots. Selection and beacon control differ with respect to their temporal and spatial influence on the swarm and enable an operator to generate different strategies from the basic behaviors of the swarm. Selection control requires an active selection of groups of robots while beacon control exerts an influence on nearby robots within a set range. Both control methods are implemented in a testbed in which operators solve an information foraging problem by utilizing a set of swarm behaviors. The robotic swarm has only local communication and sensing capabilities. The number of robots in the swarm range from 50 to 200. Operator performance for each control method is compared in a series of missions in different environments with no obstacles up to cluttered and structured obstacles. In addition, performance is compared to simple and advanced autonomous swarms. Thirty-two participants were recruited for participation in the study. Autonomous swarm algorithms were tested in repeated simulations. Our results showed that selection control scales better to larger swarms and generally outperforms beacon control. Operators utilized different swarm behaviors with different frequency across control methods, suggesting an adaptation to different strategies induced by choice of control method. Simple autonomous swarms outperformed human operators in open environments, but operators adapted better to complex environments with obstacles. Human controlled swarms fell short of task-specific benchmarks under all conditions. Our results reinforce the importance of understanding and choosing appropriate types of human-swarm interaction when designing swarm systems, in addition to choosing appropriate swarm behaviors
Decentralized Connectivity-Preserving Deployment of Large-Scale Robot Swarms
We present a decentralized and scalable approach for deployment of a robot
swarm. Our approach tackles scenarios in which the swarm must reach multiple
spatially distributed targets, and enforce the constraint that the robot
network cannot be split. The basic idea behind our work is to construct a
logical tree topology over the physical network formed by the robots. The
logical tree acts as a backbone used by robots to enforce connectivity
constraints. We study and compare two algorithms to form the logical tree:
outwards and inwards. These algorithms differ in the order in which the robots
join the tree: the outwards algorithm starts at the tree root and grows towards
the targets, while the inwards algorithm proceeds in the opposite manner. Both
algorithms perform periodic reconfiguration, to prevent suboptimal topologies
from halting the growth of the tree. Our contributions are (i) The formulation
of the two algorithms; (ii) A comparison of the algorithms in extensive
physics-based simulations; (iii) A validation of our findings through
real-robot experiments.Comment: 8 pages, 8 figures, submitted to IROS 201
Algorithms for Rapidly Dispersing Robot Swarms in Unknown Environments
We develop and analyze algorithms for dispersing a swarm of primitive robots
in an unknown environment, R. The primary objective is to minimize the
makespan, that is, the time to fill the entire region. An environment is
composed of pixels that form a connected subset of the integer grid.
There is at most one robot per pixel and robots move horizontally or
vertically at unit speed. Robots enter R by means of k>=1 door pixels
Robots are primitive finite automata, only having local communication, local
sensors, and a constant-sized memory.
We first give algorithms for the single-door case (i.e., k=1), analyzing the
algorithms both theoretically and experimentally. We prove that our algorithms
have optimal makespan 2A-1, where A is the area of R.
We next give an algorithm for the multi-door case (k>1), based on a
wall-following version of the leader-follower strategy. We prove that our
strategy is O(log(k+1))-competitive, and that this bound is tight for our
strategy and other related strategies.Comment: 17 pages, 4 figures, Latex, to appear in Workshop on Algorithmic
Foundations of Robotics, 200
Creative or Not? Birds and Ants Draw with Muscle
In this work, a novel approach of merging two swarm intelligence algorithms is considered â one mimicking the behaviour of ants foraging (Stochastic Diffusion Search [5]) and the other algorithm simulating the behaviour of birds flocking (Particle Swarm Optimisation [17]). This hybrid algorithm is assisted by a mechanism inspired from the behaviour of skeletal muscles activated by motor neurons. The operation of the swarm intelligence algorithms is first introduced via metaphor before the new hybrid algorithm is defined. Next, the novel behaviour of the hybrid algorithm is reflected through a cooperative attempt to make a drawing, followed by a discussion about creativity in general and the âcomputational creativityâ of the swarm
A robot swarm assisting a human fire-fighter
Emergencies in industrial warehouses are a major concern for fire-fighters. The large dimensions, together with the development of dense smoke that drastically reduces visibility, represent major challenges. The GUARDIANS robot swarm is designed to assist fire-fighters in searching a large warehouse. In this paper we discuss the technology developed for a swarm of robots assisting fire-fighters. We explain the swarming algorithms that provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also the means to locate the robots and humans. Thus, the robot swarm is able to provide guidance information to the humans. Together with the fire-fighters we explored how the robot swarm should feed information back to the human fire-fighter. We have designed and experimented with interfaces for presenting swarm-based information to human beings
ANTIDS: Self-Organized Ant-based Clustering Model for Intrusion Detection System
Security of computers and the networks that connect them is increasingly
becoming of great significance. Computer security is defined as the protection
of computing systems against threats to confidentiality, integrity, and
availability. There are two types of intruders: the external intruders who are
unauthorized users of the machines they attack, and internal intruders, who
have permission to access the system with some restrictions. Due to the fact
that it is more and more improbable to a system administrator to recognize and
manually intervene to stop an attack, there is an increasing recognition that
ID systems should have a lot to earn on following its basic principles on the
behavior of complex natural systems, namely in what refers to
self-organization, allowing for a real distributed and collective perception of
this phenomena. With that aim in mind, the present work presents a
self-organized ant colony based intrusion detection system (ANTIDS) to detect
intrusions in a network infrastructure. The performance is compared among
conventional soft computing paradigms like Decision Trees, Support Vector
Machines and Linear Genetic Programming to model fast, online and efficient
intrusion detection systems.Comment: 13 pages, 3 figures, Swarm Intelligence and Patterns (SIP)- special
track at WSTST 2005, Muroran, JAPA
- âŠ