Robot swarm for efficient area coverage inspired by ant foraging - The case of adaptive switching between brownian motion and levy flight

Aditya Deshpande, Manish Kumar, Subramanian Ramakrishnan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations

Abstract

Design of robot swarms inspired by self-organization in social insect groups is currently an active research area with a diverse portfolio of potential applications. In this work, the authors propose a control law for eficient area coverage by a robot swarm in a 2D spatial domain, inspired by the unique dynamical characteristics of ant foraging. The novel idea pursued in the effort is that dynamic, adaptive switching between Brownian motion and Levy flight in the stochastic component of the search increases the eficiency of the search. Influence of different pheromone (the virtual chemotactic agent that drives the foraging) threshold values for switching between Levy flights and Brownian motion is studied using two performance metrics - area coverage and visit entropy. The results highlight the advantages of the switching strategy for the control framework, particularly in cases when the object of the search is scarce in quantity or getting depleted in real-time.

Original languageEnglish (US)
Title of host publicationMechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791858288
DOIs
StatePublished - Jan 1 2017
EventASME 2017 Dynamic Systems and Control Conference, DSCC 2017 - Tysons, United States
Duration: Oct 11 2017Oct 13 2017

Publication series

NameASME 2017 Dynamic Systems and Control Conference, DSCC 2017
Volume2

Other

OtherASME 2017 Dynamic Systems and Control Conference, DSCC 2017
CountryUnited States
CityTysons
Period10/11/1710/13/17

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