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SociBuilder: A novel task-oriented swarm robotic system
Leng YQ(冷雨泉); Zhang Y(张阳); Zhang W(张伟); He X(何旭)
Department空间自动化技术研究室
Conference Name2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Conference DateDecember 6-9, 2015
Conference PlaceZhuhai, China
Source PublicationProceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages48-53
Indexed ByEI ; CPCI(ISTP)
EI Accession number20161802327983
WOS IDWOS:000380476200009
Contribution Rank1
ISBN978-1-4673-9674-5
AbstractThis paper presents a novel concept of swarm robots, which mostly emphasizes on organization structure, rather than merely the quantity. A novel task-oriented swarmrobotic system (SociBuilder system) that is self-reconfigurable and supports self-assembly is introduced. The system simulates human labor division and social organization structure, thus it could represent human construction activities. SociBuilder System mainly consists of four parts: active region, socibots, warehouses and modules. Moreover, we propose a novel swarm system hierarchy, which includes three layers: human-computer interaction (HCI) layer, task planning layer and execution layer. In the planning layer, we designe eight parts to actualize task-oriented mechanism, which are visual task analysis, task decomposition, task allocation, self-organization structure, action planning, expansion mechanism, sensor data analysis and derated analysis respectively. Besides, we displayed structures of Socibots and docking mechanism for self-assembly and self-reconfiguration in detail. Finally, three scenario simulations are implemented successfully including self-assembly task, cooperative task and building task.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/17513
Collection空间自动化技术研究室
AffiliationState Key Laboratory of Robotics, Shenyang Institute of Automation, University of Chinese Academy of Science, Shenyang, LN 110016, China
Recommended Citation
GB/T 7714
Leng YQ,Zhang Y,Zhang W,et al. SociBuilder: A novel task-oriented swarm robotic system[C]. Piscataway, NJ, USA:IEEE,2015:48-53.
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