A self-organized collective foraging method using a robot swarm

Download

index.pdf

Date

2020

Author

Karagüzel, Tugay Alperen

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

101
views

62
downloads

In this thesis, a collective foraging method for a swarm of aerial robots is investigated. The method is constructed by using algorithms that are designed to work in a distributed manner, by using only local information. No member in the swarm has access to global information about positions, states or environment. The environment, that robots are planned to operate in, contains a virtual scalar field which consists of grids containing constant values. The grid values indicate desired regions of the environment. By using the proposed methods, swarm forages towards the desired regions in collective manner as a cohesive and ordered group. Important point to mention is that members do not have the capability to sense the environment to do so on their own. Instead, they use information extracted from interactions with neighbouring members. This phenomenon, which has interesting examples on nature, is called collective sensing. At first, the algorithms are implemented on MATLAB environment with particle agent models and errorless movements. Later, they are implemented and tested on GAZEBO physics simulator with realistic and physics based models of robots. Finally, they are tested with real aerial robots which are modelled on GAZEBO before. The results are analyzed in terms of being a single and cohesive group without any collision in addition to the success in foraging towards desired regions of the environment and stay there as long as possible.

Subject Keywords

Swarm intelligence., swarm intelligence, swarm robotics, flocking, collective sensing, collective foraging

URI

http://etd.lib.metu.edu.tr/upload/12625446/index.pdf
https://hdl.handle.net/11511/45658

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

Evolving self-organizing behaviors for a swarm-bot Dorigo, M; Trianni, V; Şahin, Erol; Gross, R; Labella, TH; Baldassarre, G; Nolfi, S; Deneubourg, JL; Mondada, F; Floreano, D; Gambardella, LM (2004-09-01) In this paper, we introduce a self-assembling and self-organizing artifact, called a swarm-bot, composed of a swarm of s-bots, mobile robots with the ability to connect to and to disconnect from each other. We discuss the challenges involved in controlling a swarm-bot and address the problem of synthesizing controllers for the swarm-bot using artificial evolution. Specifically, we study aggregation and coordinated motion of the swarm-bot using a physics-based simulation of the system. Experiments, using a s...
Self-organized flocking in mobile robot swarms Turgut, Ali Emre; Gökçe, Fatih; Şahin, Erol (2008-09-01) In this paper, we study self-organized flocking in a swarm of mobile robots. We present Kobot, a mobile robot platform developed specifically for swarm robotic studies. We describe its infrared-based short range sensing system, capable of measuring the distance from obstacles and detecting kin robots, and a novel sensing system called the virtual heading system (VHS) which uses a digital compass and a wireless communication module for sensing the relative headings of neighboring robots. We propose a behavi...
Self-organized flocking with a mobile robot swarm Turgut, Ali Emre; Gökçe, Fatih; Şahin, Erol ( International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS); 2008-01-01) This paper studies self-organized flocking in a swarm of mo- bile robots. We present Kobot, a mobile robot platform developed specifically for swarm robotic studies, briefly de- scribing its sensing and communication abilities. In particular, we describe a scalable method that allows the robots to sense the orientations of their neighbors using a digital compass and wireless communication. Then we propose a behavior for a swarm of robots that creates self-organized flocking by using heading alignment and pr...
GESwarm Grammatical Evolution for the Automatic Synthesis of Collective Behaviors in Swarm Robotics Ferrante, Eliseo; Turgut, Ali Emre; DuenezGuzman, Edgar; Wenseleers, Tom (2013-07-10) In this paper we propose GESwarm, a novel tool that can automatically synthesize collective behaviors for swarms of autonomous robots through evolutionary robotics. Evolutionary robotics typically relies on artificial evolution for tuning the weights of an artificial neural network that is then used as individual behavior representation. The main caveat of neural networks is that they are very difficult to reverse engineer, meaning that once a suitable solution is found, it is very difficult to analyze, to ...
Evolving aggregation behaviors in a swarm of robots Trianni, V; Gross, R; Labella, TH; Şahin, Erol; Dorigo, M (2003-01-01) In this paper, we study aggregation in a swarm of simple robots, called s-bots, having the capability to self-organize and self-assemble to form a robotic system, called a swarm-bot. The aggregation process, observed in many biological systems, is of fundamental importance since it is the prerequisite for other forms of cooperation that involve self-organization and self-assembling. We consider the problem of defining the control system for the swarm-bot using artificial evolution. The results obtained in a...

Citation Formats

T. A. Karagüzel, “A self-organized collective foraging method using a robot swarm,” Thesis (M.S.) -- Graduate School of Natural and Applied Sciences. Mechanical Engineering., Middle East Technical University, 2020.