St-Onge, David, Pinciroli, Carlo and 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 : 13.
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Abstract
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) |
| Professor: | Professor St-Onge, David |
| Affiliation: | Autres |
| Date Deposited: | 04 Jul 2019 18:06 |
| Last Modified: | 14 Aug 2019 14:57 |
| URI: | https://espace2.etsmtl.ca/id/eprint/18917 |
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