000097626 001__ 97626
000097626 005__ 20190316233902.0
000097626 0247_ $$2doi$$a10.1145/1186778.1186779
000097626 037__ $$aARTICLE
000097626 245__ $$aCooperation through self-assembly in multi-robot
000097626 269__ $$a2006
000097626 260__ $$c2006
000097626 336__ $$aJournal Articles
000097626 520__ $$aThis article illustrates the methods and results of two sets of experiments in which a group of mobile robots, called s-bots, are required to physically connect to each other, that is, to self-assemble, to cope with environmental conditions that prevent them from carrying out their task individually. The first set of experiments is a pioneering study on the utility of self-assembling robots to address relatively complex scenarios, such as cooperative object transport. The results of our work suggest that the s-bots possess hardware characteristics which facilitate the design of control mechanisms for autonomous self-assembly. The control architecture we developed proved particularly successful in guiding the robots engaged in the cooperative transport task. However, the results also showed that some features of the robots’ controllers had a disruptive effect on their performances. The second set of experiments is an attempt to enhance the adaptiveness of our multi-robot system. In particular, we aim to synthesise an integrated (i.e., not-modular) decisionmaking mechanism which allows the s-bot to autonomously decide whether or not environmental contingencies require self-assembly. The results show that it is possible to synthesize, by using evolutionary computation techniques, artificial neural networks that integrate both the mechanisms for sensory-motor coordination and for decision making required by the robots in the context of self-assembly.
000097626 6531_ $$aSWARM_BOTS
000097626 6531_ $$a[MOBOTS]
000097626 700__ $$aTuci, Elio
000097626 700__ $$aGroß, Roderich
000097626 700__ $$aTrianni, Vito
000097626 700__ $$0240589$$g102717$$aMondada, Francecso
000097626 700__ $$g120088$$aBonani, Michael$$0241015
000097626 700__ $$aDorigo, Marco
000097626 773__ $$j1$$tACM Transactions on Autonomous and Adaptive Systems$$k2$$q115-150
000097626 8564_ $$zURL
000097626 8564_ $$uhttps://infoscience.epfl.ch/record/97626/files/ACM-TAAS-Tuci-etal2006.pdf$$zn/a$$s2734218
000097626 909C0 $$0252186$$pLSA
000097626 909C0 $$0252016$$pLSRO
000097626 909CO $$qGLOBAL_SET$$pSTI$$particle$$ooai:infoscience.tind.io:97626
000097626 937__ $$aLSA-ARTICLE-2006-002
000097626 970__ $$a686/LSA
000097626 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000097626 980__ $$aARTICLE