University of Surrey

Test tubes in the lab Research in the ATI Dance Research

Morphogenetic self-organization of collective movement without directional sensing

Ramezan Shirazi, A, Oh, H and Jin, Y (2014) Morphogenetic self-organization of collective movement without directional sensing Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 8717 L. pp. 139-150.

[img]
Preview
Image
TAROS_Kilobot.pdf
Available under License : See the attached licence file.

Download (6MB) | Preview
[img]
Preview
Text (licence)
SRI_deposit_agreement.pdf
Available under License : See the attached licence file.

Download (33kB) | Preview

Abstract

In this paper, we present a morphogenetic approach to self-organized collective movement of a swarm. We assume that the robots (agents) do not have global knowledge of the environment and can communicate only locally with other robots. In addition, we assume that the robots are not able to perform directional sensing. To self-organize such systems, we adopt here a simplified diffusion mechanism inspired from biological morphogenesis. A guidance mechanism is proposed based on the history of morphogen concentrations. The division of labor is achieved by type differentiation to allocate different tasks to different type of robots. Simulations are run to show the efficiency of the proposed algorithm. The robustness of the algorithm is demonstrated by introducing an obstacle into the environment and removing a subset of robots from the swarm. © 2014 Springer International Publishing.

Item Type: Article
Divisions : Faculty of Engineering and Physical Sciences > Computing Science
Authors :
AuthorsEmailORCID
Ramezan Shirazi, AUNSPECIFIEDUNSPECIFIED
Oh, HUNSPECIFIEDUNSPECIFIED
Jin, YUNSPECIFIEDUNSPECIFIED
Date : 2014
Identification Number : 10.1007/978-3-319-10401-0_13
Additional Information : The original publication is available at http://www.springerlink.com
Depositing User : Symplectic Elements
Date Deposited : 28 Nov 2014 18:55
Last Modified : 16 Jun 2015 13:33
URI: http://epubs.surrey.ac.uk/id/eprint/806704

Actions (login required)

View Item View Item

Downloads

Downloads per month over past year


Information about this web site

© The University of Surrey, Guildford, Surrey, GU2 7XH, United Kingdom.
+44 (0)1483 300800