000143705 001__ 143705
000143705 005__ 20180913055611.0
000143705 037__ $$aCONF
000143705 245__ $$aAggregation-mediated Collective Perception and Action in a Group of Miniature Robots
000143705 260__ $$c2010
000143705 269__ $$a2010
000143705 336__ $$aConference Papers
000143705 500__ $$aNominated for CoTeSys Best Robotics Paper Award
000143705 520__ $$aWe introduce a novel case study in which a group of miniaturized robots screen an environment for undesirable cells, and destroy them. Because miniaturized robots are usually endowed with reactive controllers and minimalist sensing and actuation capabilities, they must collaborate in order to achieve their task successfully. In this paper, we show how aggregation can mediate both collective perception and action while maintaining the scalability of the algorithm. First, we demonstrate the feasibility of our approach by implementing it on a real group of Alice mobile robots, which are only two centimeters in size.  Then, we use a combination of both realistic simulations and macroscopic models in order to find optimal parameters that maximize the number of undesirable cells destroyed while minimizing the impact on the healthy population. Finally, we discuss the limitations of these models, both in terms of accuracy, computational cost, and scalability, and we outline the importance of an appropriate multi-level modeling methodology to ensure the relevance and the faithfulness of such models.
000143705 6531_ $$aintelligence, multi-level modeling
000143705 700__ $$0243750$$aMermoud, Grégory$$g147508
000143705 700__ $$aMatthey, Loïc
000143705 700__ $$0244278$$aEvans, William Christopher$$g183256
000143705 700__ $$0241071$$aMartinoli, Alcherio$$g105782
000143705 7112_ $$a9th International Conference on Autonomous Agents and Multiagent Systems (AAMAS-2010)$$cToronto, Canada$$dMay 10-14, 2010
000143705 720_1 $$avan der Hoek, Wiebe$$eed.
000143705 720_1 $$aKaminka, Gal A.$$eed.
000143705 720_1 $$aLuck, Michael$$eed.
000143705 720_1 $$aSen, Sandip$$eed.
000143705 773__ $$q599-606$$tProceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems (AAMAS-2010)
000143705 8564_ $$uhttp://www.cse.yorku.ca/AAMAS2010/$$zURL
000143705 8564_ $$s703087$$uhttps://infoscience.epfl.ch/record/143705/files/AAMAS2010_0441_cameraready.pdf$$yn/a$$zn/a
000143705 909C0 $$0252151$$pDISAL$$xU11904
000143705 909CO $$ooai:infoscience.tind.io:143705$$pconf$$pENAC
000143705 917Z8 $$x147508
000143705 937__ $$aDISAL-CONF-2010-001
000143705 973__ $$aEPFL$$rREVIEWED$$sACCEPTED
000143705 980__ $$aCONF