Multi-robotic System with Self-organization for Search of Targets in Covered Area

Jolana Sebestyénová, Peter Kurdel

Abstract

The paper introduces the multi-robot area coverage problem, wherein a group of robots must inspect every point of a 2-dimensional test environment and surround all contaminations (or enemies) found. Self-organizing robotic systems are able to accomplish complex tasks in a changing environment, using local interactions among individual agents and local environment without an external global control. Our interest in this area is motivated by an involvement in a project with a goal to solve tasks of difficult area coverage and surveillance by a large team of small autonomous robots. In the paper, the architecture to achieve this is described, and simulation results are presented to compare efficiency of coverage of the area and surround of found targets using robots groups having different sensors ranges.

References

  1. Akiyama H., Shimora H., Takeuchi E., Noda I., 2010. Integrated Map Generation using Multi-robot Sensory Data in RoboCup Rescue. Available at: https:// stinckwich.users.greyc.fr/share/ROSIN10/rosin10_sub mission_5.pdf.
  2. Banzhaf W., 2012. Genetic Programming and Emergence. In Frontiers of Natural Computing workshop, York, UK, 2012, Available at: http://www.elec.york.ac.uk/ events/ncfrontiers/
  3. Bioinspired Robotics. Available at: http:// wyss.harvard.edu/viewpage/204/bioinspired-robotics.
  4. D'Angelo A. 2007. How a Cooperative Behavior can emerge from a Robot Team. In Distributed Autonomous Robotic Systems 6, 2007.
  5. Fazli P., 2010. On Multi-robot Area Coverage. In A. Farzindar and V. Keselj (Eds.): Canadian AI 2010, LNAI 6085, Springer-Verlag Berlin Heidelberg 2010, pp. 384-387.
  6. Kloder S., 2008. Barrier Coverage: Deploying Robot Guards to Prevent Intrusion. In Thesis 2008, University of Illinois.
  7. Meng Y., 2011. Tutorial on Morphogenetic Robotics: A New Emerging Field of Self-Organizing Robotic Systems. In IEEE Int Conf on Robotics and Automation, Shanghai, China, Available at: http://www.ece.stevens-tech.edu/ymeng/ICRA11- Tutorial.htm, www.ece.stevens-tech.edu.
  8. Pfeifer R., Lungarella M., Iida F., 2010. The Challenges Ahead for Bio-Inspired 'Soft' Robotics. Available at: http://shanghailectures.org/sites/default/files/uploads/p 76-pfeifer.pdf, doi:10.1145/2366316.2366335.
  9. Rescue Robot. Available at: http://emdad1.20m.com/, http://www.expo21xx.net/automation21xx/15799_st2_ university/default.htm, www.expo21xx.net, en.wikipedia.org.
  10. Sebestyénová J., Kurdel P., 2013. Self-organizing robotic system for area coverage and surround of contamination found. In Proc. IEEE 9th International Conference on Computational Cybernetics. - Piscataway : IEEE Operations Center, 2013, p. 309- 314, ISBN 978-1-4799-0060-2.
  11. Sebestyénová J., Kurdel P., 2014. Area Coverage and Surround of Found Targets by Self-organizing MultiRobotic System. In EUROPMENT Int. Multiconf. on Systems, Control, Signal Processing and Informatics, Prague, Proc. of the 2014 Int. Conf. on Education and Educational Technologies EET14. Eds. Dondon Ph. et al., pp. 123-129, ISBN 978-1-61804-234-7, Available at: http://www.europment.org/library/ 2014/prague/bypaper/ECS-EET/ECS-EET-18.pdf.
  12. Yaochu Jin, Hongliang Guo, and Yan Meng, 2012. A Hierarchical Gene Regulatory Network for Adaptive Multirobot Pattern Formation. In IEEE Trans. on Systems, Man, and Cybernetics, Part B, Vol.42, 2012, pp. 805-816, DOI 10.1109/TSMCB.2011.2178021, ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=61 44058, Available at: http://www.soft-computing.net/ SMCB2012Draft.pdf, www.soft-computing.net.
  13. Yaochu Jin, Yan Meng, 2012. Morphogenetic Robotics: An Emerging New Field in Developmental Robotics. Available at: http://sclab.yonsei.ac.kr/courses/ 12TCS/%EC%9D%B8%EC%A7%80_120529_%EC %9D%B4%EB%8F%99%ED%98%84.pdf.
Download


Paper Citation


in Harvard Style

Sebestyénová J. and Kurdel P. (2014). Multi-robotic System with Self-organization for Search of Targets in Covered Area . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 451-458. DOI: 10.5220/0005059704510458


in Bibtex Style

@conference{icinco14,
author={Jolana Sebestyénová and Peter Kurdel},
title={Multi-robotic System with Self-organization for Search of Targets in Covered Area},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={451-458},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005059704510458},
isbn={978-989-758-040-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Multi-robotic System with Self-organization for Search of Targets in Covered Area
SN - 978-989-758-040-6
AU - Sebestyénová J.
AU - Kurdel P.
PY - 2014
SP - 451
EP - 458
DO - 10.5220/0005059704510458