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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Schioler, H. Trung Dung Ngo |
| Copyright Year | 2008 |
| Description | Author affiliation: Center for Embedded Software Syst., Aalborg Univ., Aalborg (Schioler, H.; Trung Dung Ngo) |
| Abstract | The paper considers trophallaxis in robot swarms, which is presented as a concept for resource sharing among individuals inspired by altruistic behaviour in natural populations. A number of elementary problems are identified, such as energy containment, robot morphology, rendezvous motion control and individual resource exchange behaviour. The CISSBot is presented as a design study as well as a proof of concept illustrating how a trophallactic exchange mechanism may be implemented based on batteries in commercially available form factor. A collison free proximity motion control is presented and illustrated by numerical simulation results. A probabilistic Markovian model including relevant effects; mobility, charging, battery exchange and energy consumption is presented and illustrated with numerical examples. |
| Starting Page | 1526 |
| Ending Page | 1533 |
| File Size | 263146 |
| Page Count | 8 |
| File Format | |
| ISBN | 9781424422869 |
| DOI | 10.1109/ICARCV.2008.4795751 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2008-12-17 |
| Publisher Place | Vietnam |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robotics and automation Batteries Humans Service robots Mobile robots Robot vision systems Collaborative work Energy resources Automatic control Robot control |
| Content Type | Text |
| Resource Type | Article |
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