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Circle formation with computation-free robots shows emergent behavioural structure


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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 : 4.

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St-Onge D 2018 18917.pdf - Accepted Version
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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.

Item Type: Conference proceeding
ISBN: 21530858 (ISSN); 9781538680940 (ISBN)
St-Onge, David
Affiliation: Autres
Date Deposited: 04 Jul 2019 18:06
Last Modified: 14 Aug 2019 14:57

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