From Stigmergy to Affordance: The Mechanical Basis of Robot Motion Control

  • Antonio D’Angelo
  • Enrico Pagello
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)


In the last decade, the development of multi robot systems has shown with growing evidence how a well-balanced deliberative-reactive coordination can provide a group of robots with an efficient and robust collective behavior. In this paper, we want to cover exhaustively this issue from the point of view of the single agent in the general model we have already presented as “roboticle framework”. Starting from a pure mechanical interpretation of an autonomous robot motion we shall understand the notions of stigmergy and affordance by maintaining at the sub-symbolic level all the relevant information useful to drive properly the robot while it participates to the collective action. Specifically, we shall focus on some interesting parameters through which the designer of the single robot governor’s unit could be helped to trigger its individual behavior within a collective scenario.


Roboticle Autopoietic loop Robot coordination Stigmergy 



This work was partially supported by a grant of the University of Padua’s Special Project on Mobility, Perception, and Coordination for a Team of Autonomous Robots.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Department of Mathematics and Computer ScienceUniversity of UdineUdineItaly
  2. 2.Department of Electronics and Computer ScienceUniversity of PaduaPaduaItaly

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