Bio-inspired artificial pheromone system for swarm robotics applications

Na, Seongin
Qiu, Yiping
Turgut, Ali Emre
Ulrich, Jiri
Krajnik, Tomas
Yue, Shigang
Lennox, Barry
Arvin, Farshad
Pheromones are chemical substances released into the environment by an individual animal, which elicit stereotyped behaviours widely found across the animal kingdom. Inspired by the effective use of pheromones in social insects, pheromonal communication has been adopted to swarm robotics domain using diverse approaches such as alcohol, RFID tags and light. COS phi is one of the light-based artificial pheromone systems which can emulate realistic pheromones and environment properties through the system. This article provides a significant improvement to the state-of-the-art by proposing a novel artificial pheromone system that simulates pheromones with environmental effects by adopting a model of spatio-temporal development of pheromone derived from a flow of fluid in nature. Using the proposed system, we investigated the collective behaviour of a robot swarm in a bio-inspired aggregation scenario, where robots aggregated on a circular pheromone cue with different environmental factors, that is, diffusion and pheromone shift. The results demonstrated the feasibility of the proposed pheromone system for use in swarm robotic applications.


To afford or not to afford: A new formalization of affordances toward affordance-based robot control
Şahin, Erol; Dogar, Mehmet R.; UĞUR, Emre; Üçoluk, Göktürk (SAGE Publications, 2007-01-01)
The concept of affordances was introduced by J. J. Gibson to explain how inherent "values" and "meanings" of things in the environment can be directly perceived and how this information can be linked to the action possibilities offered to the organism by the environment. Although introduced in psychology, the concept influenced studies in other fields ranging from human-computer interaction to autonomous robotics. In this article, we first introduce the concept of affordances as conceived by J. J. Gibson an...
Investigation of cue-based aggregation in static and dynamic environments with a mobile robot swarm
Arvin, Farshad; Turgut, Ali Emre; Krajnik, Tomas; Yue, Shigang (SAGE Publications, 2016-04-01)
Aggregation is one of the most fundamental behaviors and has been studied in swarm robotic researches for more than two decades. Studies in biology have revealed that the environment is a preeminent factor, especially in cue-based aggregation. This can be defined as aggregation at a particular location which is a heat or a light source acting as a cue indicating an optimal zone. In swarm robotics, studies on cue-based aggregation mainly focused on different methods of aggregation and different parameters su...
Traversability: A Case Study for Learning and Perceiving Affordances in Robots
Ugur, Emre; Şahin, Erol (SAGE Publications, 2010-06-01)
The concept of affordances, introduced in psychology by J. J. Gibson, has recently attracted interest in the development of cognitive systems in autonomous robotics. In earlier work (Sahin, Cakmak, Dogar, Ugur, & Ucoluk), we reviewed the uses of this concept in different fields and proposed a formalism to use affordances at different levels of robot control. In this article, we first review studies in ecological psychology on the learning and perception of traversability in organisms and describe how the ex...
Reproductive toxicity parameters and biological monitoring in occupationally and environmentally boron-exposed persons in BandA +/- rma, Turkey
DUYDU, YALÇIN; Basaran, Nursen; ÜSTÜNDAĞ, AYLİN; AYDIN DİLSİZ, SEVTAP; ÜNDEĞER BUCURGAT, ÜLKÜ; Ataman, Osman Yavuz; AYDOS, KAAN; Duker, Yalcin; Ickstadt, Katja; Waltrup, Britta Schulze; Golka, Klaus; Bolt, Hermann M. (2011-06-01)
Boric acid and sodium borates have been considered as being "toxic to reproduction and development", following results of animal studies with high doses. Experimentally, a NOAEL (no observed adverse effect level) of 17.5 mg B/kg-bw/day has been identified for the (male) reproductive effects of boron in a multigeneration study of rats, and a NOAEL for the developmental effects in rats was identified at 9.6 mg B/kg-bw/day. These values are being taken as the basis of current EU safety assessments. The present...
Application of in situ Solid-Phase Microextraction on Mediterranean Sponges for Untargeted Exometabolome Screening and Environmental Monitoring
Bojko, Barbara; Onat, Bora; Boyacı, Ezel; Psillakis, Eleftheria; Dailianis, Thanos; Pawliszyn, Janusz (Frontiers Media SA, 2019-10-11)
In marine ecosystems, sponges are ubiquitous sessile organisms that contain a wide range of specialized metabolites. These metabolites point to a diverse range of biochemical pathways. Some of these compounds are biomarkers that indicate the presence of bacteria that form symbiotic relationships with a host sponge (microsymbionts). Sponges hold considerable promise as bioindicators for seawater quality monitoring, as they are exposed to, and accumulate, significant levels of anthropogenic contamination in c...
Citation Formats
S. Na et al., “Bio-inspired artificial pheromone system for swarm robotics applications,” ADAPTIVE BEHAVIOR, pp. 395 –415, 2020, Accessed: 00, 2020. [Online]. Available: