000128399 001__ 128399
000128399 005__ 20190416055715.0
000128399 0247_ $$2doi$$a10.1504/IJBIC.2009.022770
000128399 037__ $$aARTICLE
000128399 245__ $$aTowards Group Transport by Swarms of Robots
000128399 269__ $$a2009
000128399 260__ $$c2009
000128399 336__ $$aJournal Articles
000128399 520__ $$aWe examine the ability of a swarm robotic system to transport cooperatively objects of different shapes and sizes. We simulate a group of autonomous mobile robots that can physically connect to each other and to the transported object. Controllers — artificial neural networks — are synthesised by an evolutionary algorithm. They are trained to let the robots self-assemble, that is, organise into collective physical structures, and transport the object towards a target location. We quantify the performance and the behaviour of the group. We show that the group can cope fairly well with objects of different geometries as well as with sudden changes in the target location. Moreover, we show that larger groups, which are made of up to 16 robots, make possible the transport of heavier objects. Finally, we discuss the limitations of the system in terms of task complexity, scalability, and fault tolerance, and point out potential directions for future research.
000128399 6531_ $$aartificial neural networks
000128399 6531_ $$abio-inspired computation
000128399 6531_ $$acollective structures
000128399 6531_ $$acooperation
000128399 6531_ $$acooperative transport
000128399 6531_ $$aevolutionary robotics
000128399 6531_ $$aforaging
000128399 6531_ $$agroup transport
000128399 6531_ $$amodular robots
000128399 6531_ $$aobject manipulation
000128399 6531_ $$areconfigurable robots
000128399 6531_ $$aself-assembling robots
000128399 6531_ $$aself-assembly
000128399 6531_ $$aswarm intelligence
000128399 6531_ $$aswarm robotics
000128399 700__ $$aGroß, Roderich
000128399 700__ $$aDorigo, Marco
000128399 773__ $$j1$$tInternational Journal of Bio-Inspired Computation$$k1-2$$q1-13
000128399 8564_ $$uhttp://www.inderscience.com/ijbic/$$zURL
000128399 8564_ $$zURL
000128399 8564_ $$uhttps://infoscience.epfl.ch/record/128399/files/IJBIC0101-0201%20GROSS.pdf$$zn/a$$s488638
000128399 909C0 $$0252016$$pLSRO
000128399 909CO $$particle$$ooai:infoscience.tind.io:128399$$qGLOBAL_SET$$pSTI
000128399 937__ $$aLSRO-ARTICLE-2008-010
000128399 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000128399 980__ $$aARTICLE