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Directed stigmergy-based control for multi-robot systems

Published: 10 March 2007 Publication History

Abstract

Multi-robot systems are particularly useful in tasks that require searching large areas such as planetary science exploration, urban search and rescue, or landmine remediation. In order to overcome the inherent complexity of controlling multiple robots, the user must be able to give high-level, goal driven direction to the robot team. Since human robot interaction is a relatively new discipline, it is helpful to look to existing systems for concepts, analogies, or metaphors that might be utilized in building useful systems. Inspiration from natural decentralized systems guides the development of a computer simulation for stigmergy-based control of multi-robot system, and the interface with which an operator can interact and control mobile robots. In-depth description of the design process includes a description of a basic stigmergy-based control system and an innovative Directed Stigmergy control system that facilitates operator control of the robot team in an interesting and surprisingly effective way.

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  • (2016)The Ant and the Trap: Evolution of Ant-Inspired Obstacle Avoidance in a Multi-Agent Robotic SystemEarth and Space 201610.1061/9780784479971.063(675-687)Online publication date: 12-Jan-2016
  • (2012)Autonomy Spectrum and Performance Perception Issues in Swarm Supervisory ControlProceedings of the IEEE10.1109/JPROC.2011.2174103100:3(590-603)Online publication date: Mar-2012
  • (2009)An extensive review of research in swarm robotics2009 World Congress on Nature & Biologically Inspired Computing (NaBIC)10.1109/NABIC.2009.5393617(140-145)Online publication date: Dec-2009
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Published In

cover image ACM Conferences
HRI '07: Proceedings of the ACM/IEEE international conference on Human-robot interaction
March 2007
392 pages
ISBN:9781595936172
DOI:10.1145/1228716
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Publication History

Published: 10 March 2007

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Author Tags

  1. human robot interaction
  2. multi-robot
  3. robotics
  4. stigmergy
  5. supervisory control
  6. swarm
  7. user interface

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HRI07
HRI07: International Conference on Human Robot Interaction
March 10 - 12, 2007
Virginia, Arlington, USA

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HRI '07 Paper Acceptance Rate 22 of 101 submissions, 22%;
Overall Acceptance Rate 268 of 1,124 submissions, 24%

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HRI '25
ACM/IEEE International Conference on Human-Robot Interaction
March 4 - 6, 2025
Melbourne , VIC , Australia

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Cited By

View all
  • (2016)The Ant and the Trap: Evolution of Ant-Inspired Obstacle Avoidance in a Multi-Agent Robotic SystemEarth and Space 201610.1061/9780784479971.063(675-687)Online publication date: 12-Jan-2016
  • (2012)Autonomy Spectrum and Performance Perception Issues in Swarm Supervisory ControlProceedings of the IEEE10.1109/JPROC.2011.2174103100:3(590-603)Online publication date: Mar-2012
  • (2009)An extensive review of research in swarm robotics2009 World Congress on Nature & Biologically Inspired Computing (NaBIC)10.1109/NABIC.2009.5393617(140-145)Online publication date: Dec-2009
  • (2008)Swarm intelligence for self-reconfiguring walking robot2008 IEEE Swarm Intelligence Symposium10.1109/SIS.2008.4668286(1-8)Online publication date: Sep-2008
  • (2007)Incremental Evolution of Stigmergy-Based Multi Robot Controllers Through Utility FunctionsKnowledge-Based Intelligent Information and Engineering Systems and the XVII Italian Workshop on Neural Networks on Proceedings of the 11th International Conference10.1007/978-3-540-74827-4_148(1187-1195)Online publication date: 12-Sep-2007

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