Collective decision-making based on social odometry

In this paper, we propose a swarm intelligence localization strategy in which robots have to locate different resource areas in a bounded arena and forage between them. The robots have no knowledge of the arena dimensions and of the number of resource areas. The strategy is based on peer-to-peer local communication without the need for any central unit. Social Odometry leads to a self-organized path selection. We show how collective decisions lead the robots to choose the closest resource site from a central place. Results are presented with simulated and real robots.

[1]  J. Kuijpers,et al.  Heterogeneous Teams of Modular Robots for Mapping and Exploration , 2008 .

[2]  Paolo Dario,et al.  Optical Networking in a Swarm of Microrobots , 2008, NanoNet.

[3]  Roland Siegwart,et al.  Estimating the Odometry Error of a Mobile Robot during Navigation , 2003 .

[4]  Robert Boyd,et al.  Genetic and Cultural Evolution of Cooperation , 2003 .

[5]  Bernhard Nebel,et al.  Fast, accurate, and robust self-localization in polygonal environments , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[6]  W. M. Wheeler,et al.  A study of some ant larvae, with a consideration of the origin and meaning of the social habit among insects. , 1918 .

[7]  H. H. W. Velthuis,et al.  The nature of trophallaxis in honeybees , 1982, Insectes Sociaux.

[8]  Francisco C. Santos,et al.  Cooperation Prevails When Individuals Adjust Their Social Ties , 2006, PLoS Comput. Biol..

[9]  Jürgen Heinze,et al.  Trophallaxis and Aggression in the Ponerine Ant, Ponera coarctata: Implications for the Evolution of Liquid Food Exchange in the Hymenoptera , 2010 .

[10]  James McLurkin,et al.  Distributed Algorithms for Dispersion in Indoor Environments Using a Swarm of Autonomous Mobile Robots , 2004, DARS.

[11]  Leslie Pack Kaelbling,et al.  Acting under uncertainty: discrete Bayesian models for mobile-robot navigation , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[12]  Iain D. Couzin,et al.  Self‐Organization in Biological Systems.Princeton Studies in Complexity. ByScott Camazine,, Jean‐Louis Deneubourg,, Nigel R Franks,, James Sneyd,, Guy Theraulaz, and, Eric Bonabeau; original line drawings by, William Ristineand, Mary Ellen Didion; StarLogo programming by, William Thies. Princeton (N , 2002 .

[13]  Francesco Mondada,et al.  The e-puck, a Robot Designed for Education in Engineering , 2009 .

[14]  P. Cheeseman,et al.  On the Representation and Estimation of , 2003 .

[15]  Paolo Dario,et al.  Micromanipulation, communication and swarm intelligence issues in a swarm microrobotic platform , 2006, Robotics Auton. Syst..

[16]  M. Nowak,et al.  Stochastic dynamics of invasion and fixation. , 2006, Physical review. E, Statistical, nonlinear, and soft matter physics.

[17]  Liqiang Feng,et al.  Where am I? : sensors and methods for autonomous mobile robot positioning , 1994 .

[18]  Heinz Wörn,et al.  Distributed Shortest-Path Finding by a Micro-robot Swarm , 2006, ANTS Workshop.

[19]  Reid G. Simmons,et al.  Probabilistic Robot Navigation in Partially Observable Environments , 1995, IJCAI.

[20]  David W. Payton,et al.  Compound behaviors in pheromone robotics , 2003, Robotics Auton. Syst..

[21]  Lynne E. Parker,et al.  ALLIANCE: an architecture for fault tolerant multirobot cooperation , 1998, IEEE Trans. Robotics Autom..

[22]  Ole Ravn,et al.  Location Estimation for an Autonomously Guided Vehicle using an Augmented Kalman Filter to Autocalib , 1998 .

[23]  David M Levinson,et al.  Lecture Notes of the Institute for Computer Sciences, Social-Informatics and Telecommunications Engineering , 2009, Complex.

[24]  Maja J. Mataric,et al.  Learning social behavior , 1997, Robotics Auton. Syst..

[25]  Gaurav S. Sukhatme,et al.  LOST: localization-space trails for robot teams , 2002, IEEE Trans. Robotics Autom..

[26]  T. Başar,et al.  A New Approach to Linear Filtering and Prediction Problems , 2001 .

[27]  Marco Dorigo,et al.  Swarm intelligence: from natural to artificial systems , 1999 .

[28]  Francisco C. Santos,et al.  Social Odometry in Populations of Autonomous Robots , 2008, ANTS Conference.

[29]  Israel A. Wagner,et al.  Distributed covering by ant-robots using evaporating traces , 1999, IEEE Trans. Robotics Autom..

[30]  Ryo Kurazume,et al.  Study on cooperative positioning system (basic principle and measurement experiment) , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[31]  Sven Koenig,et al.  Trail-laying robots for robust terrain coverage , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[32]  Mauro Birattari,et al.  Negotiation of Goal Direction for Cooperative Transport , 2006, ANTS Workshop.

[33]  Gregory Dudek Paul Mackenzie.  Model-Based Map Construction for Robot Localization , 1993 .

[34]  R. Andrew Russell,et al.  Ant trails - an example for robots to follow? , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[35]  Luis Magdalena,et al.  An Open Localization and Local Communication Embodied Sensor , 2008, Sensors.

[36]  Gregory Dudek,et al.  Multi-robot collaboration for robust exploration , 2004, Annals of Mathematics and Artificial Intelligence.

[37]  J. Deneubourg,et al.  Trails and U-turns in the Selection of a Path by the Ant Lasius niger , 1992 .

[38]  Ettore Stella,et al.  Goal-oriented mobile robot navigation using an odour sensor , 1995, Proceedings of the Intelligent Vehicles '95. Symposium.

[39]  Karl Crailsheim,et al.  The flow of jelly within a honeybee colony , 1992, Journal of Comparative Physiology B.

[40]  Thomas Schmickl,et al.  Trophallaxis within a robotic swarm: bio-inspired communication among robots in a swarm , 2008, Auton. Robots.

[41]  Anies Hannawati Purnamadjaja,et al.  Pheromone communication: implementation of necrophoric bee behaviour in a robot swarm , 2004, IEEE Conference on Robotics, Automation and Mechatronics, 2004..

[42]  Chih-Ming Wang.  Location Estimation and Uncertainty Analysis for Mobile Robots , 1990, Autonomous Robot Vehicles.

[43]  R. Andrew Russell,et al.  Laying and sensing odor markings as a strategy for assisting mobile robot navigation tasks , 1995, IEEE Robotics Autom. Mag..

[44]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[45]  Arne Traulsen,et al.  Pairwise comparison and selection temperature in evolutionary game dynamics. , 2007, Journal of theoretical biology.

[46]  Bernhard Nebel,et al.  A fast, accurate and robust method for self-localization in polygonal environments using laser range finders , 2001, Adv. Robotics.

[47]  David W. Payton,et al.  Progress in Pheromone Robotics , 2001 .

[48]  Scott Camazine,et al.  The regulation of pollen foraging by honey bees: how foragers assess the colony's need for pollen , 1993, Behavioral Ecology and Sociobiology.

[49]  Gregory Dudek,et al.  Probabilistic cooperative localization and mapping in practice , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[50]  J. Deneubourg,et al.  The self-organizing exploratory pattern of the argentine ant , 1990, Journal of Insect Behavior.

[51]  Francisco C. Santos,et al.  Social Odometry: Imitation Based Odometry in Collective Robotics , 2009 .

[52]  Marco Dorigo,et al.  Teamwork in Self-Organized Robot Colonies , 2009, IEEE Transactions on Evolutionary Computation.

[53]  Dorigo,et al.  Social Odometry : A Self-Organized Distributed Location Algorithm , 2009 .

[54]  Marco Dorigo,et al.  Path formation in a robot swarm , 2008, Swarm Intelligence.

[55]  Lindsay Kleeman,et al.  Accurate odometry and error modelling for a mobile robot , 1997, Proceedings of International Conference on Robotics and Automation.

[56]  Wolfram Burgard,et al.  Estimating the Absolute Position of a Mobile Robot Using Position Probability Grids , 1996, AAAI/IAAI, Vol. 2.

[57]  Marco Dorigo,et al.  Open E-puck Range & Bearing miniaturized board for local communication in swarm robotics , 2009, 2009 IEEE International Conference on Robotics and Automation.

[58]  Wolfram Burgard,et al.  Integrating global position estimation and position tracking for mobile robots: the dynamic Markov localization approach , 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).

[59]  Tucker R. Balch,et al.  Communication in reactive multiagent robotic systems , 1995, Auton. Robots.

[60]  D. Simon.  Optimal State Estimation: Kalman, H Infinity, and Nonlinear Approaches , 2006 .

[61]  Guy Theraulaz,et al.  Self-Organization in Biological Systems , 2001, Princeton studies in complexity.