Exploring the Split and Join Capabilities of a Robotic Collective Movement Framework
Abstract The splitting and joining capabilities of a previously designed framework for the collective movement of mobile robots are studied. This framework is implemented in a distributed manner among the robots and allows scalability with increasing number of robots. It is expandable with new funct...
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Published in | International journal of advanced robotic systems Vol. 10; no. 5 |
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Main Author | |
Format | Journal Article |
Language | English |
Published |
London, England
SAGE Publications
01.05.2013
Sage Publications Ltd SAGE Publishing |
Subjects | |
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Abstract | Abstract The splitting and joining capabilities of a previously designed framework for the collective movement of mobile robots are studied. This framework is implemented in a distributed manner among the robots and allows scalability with increasing number of robots. It is expandable with new functionalities through the inclusion of new modules. Splitting functionality is created by including a new module, while joining does not need new structures. A total of 130 systematic experiments, grouped in six different sets, were undertaken to test the splitting and joining functions of the framework, yielding results in which robots behaved as expected. Four of the sets correspond to experiments in simulation using up to 40 robots. The remaining sets use eight real robots. |
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AbstractList | Abstract The splitting and joining capabilities of a previously designed framework for the collective movement of mobile robots are studied. This framework is implemented in a distributed manner among the robots and allows scalability with increasing number of robots. It is expandable with new functionalities through the inclusion of new modules. Splitting functionality is created by including a new module, while joining does not need new structures. A total of 130 systematic experiments, grouped in six different sets, were undertaken to test the splitting and joining functions of the framework, yielding results in which robots behaved as expected. Four of the sets correspond to experiments in simulation using up to 40 robots. The remaining sets use eight real robots. |
Author | Navarro, Iñaki |
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Cites_doi | 10.1007/s00521-010-0355-y 10.1109/IROS.2008.4650626 10.1007/s10514-012-9300-5 10.1109/IROS.2008.4650937 10.1109/ROBOT.2004.1308109 10.1109/70.736776 10.1007/978-3-642-15871-1_34 10.1016/j.robot.2011.05.001 10.1109/IRDS.2002.1041697 10.5772/54600 10.1007/s11721-008-0016-2 10.1023/B:AURO.0000033970.96785.f2 |
ContentType | Journal Article |
Copyright | 2013 Navarro; licensee InTech. 2013. This work is published under http://creativecommons.org/licenses/by/3.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. |
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References | Çelikkanat, Şahin 2010; 19 Balch, Arkin 1998; 14 Navarro, Matía 2011; 59 Michel 2004; 1 Navarro, Matía 2012; 22 Spears, Spears, Hamann, Heil 2004; 17 Turgut, Çelikkanat, Gökçe, Şahin 2008; 2 Pugh, Raemy, Favre, Falconi, Martinoli 2009; 14 bibr10-55390 Michel O. (bibr9-55390) 2004; 1 bibr5-55390 bibr14-55390 bibr11-55390 bibr4-55390 bibr15-55390 bibr2-55390 bibr8-55390 bibr12-55390 bibr18-55390 bibr1-55390 bibr7-55390 bibr3-55390 Pugh J. (bibr16-55390) 2009; 14 bibr17-55390 bibr13-55390 bibr6-55390 |
References_xml | – volume: 17 start-page: 137 year: 2004 end-page: 162 article-title: Distributed, physics-based control of swarms of vehicles publication-title: Autonomous Robots contributor: fullname: Heil – volume: 19 start-page: 849 issue: 6 year: 2010 end-page: 865 article-title: Steering self-organized robot flocks through externally guided individuals publication-title: Neural Computing and Applications contributor: fullname: Şahin – volume: 22 start-page: 445 issue: 4 year: 2012 end-page: 465 article-title: Distributed orientation agreement in a group of robots publication-title: Autonomous Robots contributor: fullname: Matía – volume: 59 start-page: 685 issue: 10 year: 2011 end-page: 697 article-title: A framework for collective movement of mobile robots based on distributed decisions publication-title: Robotics and Autonomous Systems contributor: fullname: Matía – volume: 14 start-page: 926 issue: 6 year: 1998 end-page: 939 article-title: Behavior-based formation control for multi-robot teams publication-title: IEEE Transactions on Robotics and Automation contributor: fullname: Arkin – volume: 1 start-page: 39 issue: 1 year: 2004 end-page: 42 article-title: Webots: Professional mobile robot simulation publication-title: Journal of Advanced Robotics Systems contributor: fullname: Michel – volume: 14 start-page: 151 issue: 2 year: 2009 end-page: 162 article-title: A fast on-board relative positioning module for multi-robot systems publication-title: IEEE/ASME Transactions on Mechatronics, Focused Section on Mechatronics in Multi Robot Systems contributor: fullname: Martinoli – volume: 2 start-page: 97 issue: 2–4 year: 2008 end-page: 120 article-title: Self-organized flocking in mobile robot swarms publication-title: Swarm Intelligence contributor: fullname: Şahin – ident: bibr4-55390 doi: 10.1007/s00521-010-0355-y – volume: 1 start-page: 39 issue: 1 year: 2004 ident: bibr9-55390 publication-title: Journal of Advanced Robotics Systems contributor: fullname: Michel O. – volume: 14 start-page: 151 issue: 2 year: 2009 ident: bibr16-55390 publication-title: IEEE/ASME Transactions on Mechatronics, Focused Section on Mechatronics in Multi Robot Systems contributor: fullname: Pugh J. – ident: bibr10-55390 – ident: bibr1-55390 doi: 10.1109/IROS.2008.4650626 – ident: bibr13-55390 doi: 10.1007/s10514-012-9300-5 – ident: bibr5-55390 – ident: bibr7-55390 – ident: bibr8-55390 doi: 10.1109/IROS.2008.4650937 – ident: bibr15-55390 doi: 10.1109/ROBOT.2004.1308109 – ident: bibr2-55390 doi: 10.1109/70.736776 – ident: bibr6-55390 doi: 10.1007/978-3-642-15871-1_34 – ident: bibr12-55390 doi: 10.1016/j.robot.2011.05.001 – ident: bibr3-55390 doi: 10.1109/IRDS.2002.1041697 – ident: bibr11-55390 – ident: bibr14-55390 doi: 10.5772/54600 – ident: bibr18-55390 doi: 10.1007/s11721-008-0016-2 – ident: bibr17-55390 doi: 10.1023/B:AURO.0000033970.96785.f2 |
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SubjectTerms | Algorithms Experiments Leadership Modules Robots Simulation Splitting Velocity |
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Title | Exploring the Split and Join Capabilities of a Robotic Collective Movement Framework |
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