St-Onge, David, Pinciroli, Carlo et Beltrame, Giovanni.
2018.
« Circle formation with computation-free robots shows emergent behavioural structure ».
In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (Madrid, Spain, Oct. 1-5, 2018)
pp. 5344-5349.
Institute of Electrical and Electronics Engineers Inc..
Compte des citations dans Scopus : 14.
Prévisualisation |
PDF
St-Onge D 2018 18917.pdf - Version acceptée Licence d'utilisation : Tous les droits réservés aux détenteurs du droit d'auteur. Télécharger (419kB) | Prévisualisation |
Résumé
In this paper, we demonstrate how behavioural structure, such as a finite state machine, can emerge in minimal robots without computation nor memory capabilities. As a case study we observe the ability of a group of non-holonomic robots to form robust, self-healing circle formations in a decentralized manner using only a limited frontal binary sensor. We present a grid-search method to find suitable parameters that promote the formation of a stable circle. We then examine how the parameters of the controllers affect the appearance of the behaviour, and provide theoretical proof for its emergence and self-healing properties. We validate the proposed model through a set of experiments with ten mobile real robots. Our results with real robots match the simulated experiments and provide insights on how a simple, computation-free behaviour can generate complex spatio-temporal dynamics.
| Type de document: | Compte rendu de conférence |
|---|---|
| ISBN: | 21530858 (ISSN); 9781538680940 (ISBN) |
| Professeur: | Professeur St-Onge, David |
| Affiliation: | Autres |
| Date de dépôt: | 04 juill. 2019 18:06 |
| Dernière modification: | 14 août 2019 14:57 |
| URI: | https://espace2.etsmtl.ca/id/eprint/18917 |
Actions (Authentification requise)
 |
Dernière vérification avant le dépôt |