NDLI: Artificial pheromone for path selection by a foraging swarm of robots

Content Provider	Springer Nature Link
Author	Campo, Alexandre Gutiérrez, Álvaro uyan, Shervin Pinciroli, Carlo Longchamp, Valentin Garnier, Simon Dorigo, Marco
Copyright Year	2010
Abstract	Foraging robots involved in a search and retrieval task may create paths to navigate faster in their environment. In this context, a swarm of robots that has found several resources and created different paths may benefit strongly from path selection. Path selection enhances the foraging behavior by allowing the swarm to focus on the most profitable resource with the possibility for unused robots to stop participating in the path maintenance and to switch to another task. In order to achieve path selection, we implement virtual ants that lay artificial pheromone inside a network of robots. Virtual ants are local messages transmitted by robots; they travel along chains of robots and deposit artificial pheromone on the robots that are literally forming the chain and indicating the path. The concentration of artificial pheromone on the robots allows them to decide whether they are part of a selected path. We parameterize the mechanism with a mathematical model and provide an experimental validation using a swarm of 20 real robots. We show that our mechanism favors the selection of the closest resource is able to select a new path if a selected resource becomes unavailable and selects a newly detected and better resource when possible. As robots use very simple messages and behaviors, the system would be particularly well suited for swarms of microrobots with minimal abilities.
Starting Page	339
Ending Page	352
Page Count	14
File Format	PDF
ISSN	03401200
Journal	Biological Cybernetics
Volume Number	103
Issue Number	5
e-ISSN	14320770
Language	English
Publisher	Springer-Verlag
Publisher Date	2010-07-20
Publisher Place	Berlin/Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Swarm robotics Path selection Artificial pheromone Statistical Physics, Dynamical Systems and Complexity Neurobiology Computer Application in Life Sciences Neurosciences Bioinformatics
Content Type	Text
Resource Type	Article
Subject	Computer Science Biotechnology

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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