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Algorithm for foraging and building task on a novel swarm robotic platform
Leng YQ(冷雨泉); Zhang Y(张阳); He X(何旭); Zhou WJ(周维佳)
作者部门空间自动化技术研究室
会议名称2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
会议日期December 5-10, 2014
会议地点Bali, Indonesia
会议主办者Harbin Institute of Technology; IEEE Robotics and Automation Society; National University of Defense Technology; Shenzhen Institutes of Advanced Technology, CAS; State Key Laboratory of Robotics and Systems
会议录名称2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码2501-2506
收录类别EI ; CPCI(ISTP)
EI收录号20152100877027
WOS记录号WOS:000380399500419
产权排序1
ISBN号978-1-4799-7396-5
摘要Foraging Task is a typical task on swarm robotic and Building Task (extend from blocks world) is widely used for testing performance of task planning in multi-robots. In this paper we combine foraging and building task as a new type task and implement on our swarm robotic system-SociBuilder. The platform is composed of three parts: active region, modules and many robots called Socibots. In order to execute the task automatically and effectively, we propose a new system architecture including three layers: human-computer interaction layer (HCI), planning layer and execution layer. For the same reason, we put forward a novel algorithm to adjust individual behavior dynamically. As a result of our experiments, Socibots use only local information and do not need communication with others in forage, and fewer individuals are centralized control for building task. The architecture and algorithm are effective in swarm robotics, which guide system to perform complex task with less burden.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/16104
专题空间自动化技术研究室
通讯作者Leng YQ(冷雨泉)
作者单位State Key Laboratory of Robotics, Shenyang Institute of Automation, University of Chinese Academy of Science, Shenyang, LN, China
推荐引用方式
GB/T 7714
Leng YQ,Zhang Y,He X,et al. Algorithm for foraging and building task on a novel swarm robotic platform[C]//Harbin Institute of Technology; IEEE Robotics and Automation Society; National University of Defense Technology; Shenzhen Institutes of Advanced Technology, CAS; State Key Laboratory of Robotics and Systems. Piscataway, NJ, USA:IEEE,2014:2501-2506.
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