Cluster Analysis of Collective Behavior for a Robotic Swarm

  • Kazuhiro Ohkura
  • Toshiyuki Yasuda
  • Chikara Morishita
  • Yoshiyuki Matsumura
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 194)

Abstract

Swarm robotics is a new research field of multi-robot systems which generally consists of many homogeneous autonomous robots without a global controller. Since a robotic swarm is controlled by an emergent way of many interactions with the other robots or an environment, such as a result of self-organization, robot learning or artificial evolution, no method has been known to grasp the macroscopic collective behavior in a practical sense, according to the best of our knowledge. In this paper, based on this situation, a novel method for analyzing the macroscopic collective behavior inspired by a technique in the field of complex network is proposed. The effectiveness of the proposed method is demonstrated on a robotic swarm behavior for the cooperative transport problem by extracting the community structure based on the modularity optimization.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Arkin, R.: Behavior-Based Robotics. The MIT Press (1998)Google Scholar
  2. 2.
    Girvan, M., Newman, M.E.J.: Community Structure in Social and Biological Networks. Proceedings of the National Academy of Sciences of the United States of America 99, 7821–7826 (2002)MathSciNetMATHCrossRefGoogle Scholar
  3. 3.
  4. 4.
    Baldassarre, G., Nolfi, S., Parisi, D.: Evolution of Collective Behavior in a Team of Physically Linked Robots. In: Raidl, G.R., Cagnoni, S., Cardalda, J.J.R., Corne, D.W., Gottlieb, J., Guillot, A., Hart, E., Johnson, C.G., Marchiori, E., Meyer, J.-A., Middendorf, M. (eds.) EvoWorkshops 2003. LNCS, vol. 2611, pp. 581–592. Springer, Heidelberg (2003)CrossRefGoogle Scholar
  5. 5.
    Dorigo, M., Trianni, V., Sahin, E., Groß, R., Labella, T.H., Baldassarre, G., Nolfi, S., Deneubourg, J.-L., Mondada, F., Floreano, D., Gambardella, L.M.: Evolving Self-Organizing Behaviors for a Swarm-bot. Autonomous Robots 17(2-3), 223–245 (2004)CrossRefGoogle Scholar
  6. 6.
    Newman, M.E.J., Girvan, M.: Finding and Evaluating Community Structure in Networks. Physical Review E 69, 26113 (2004)CrossRefGoogle Scholar
  7. 7.
    Şahin, E.: Swarm Robotics: From Sources of Inspiration to Domains of Application. In: Şahin, E., Spears, W.M. (eds.) Swarm Robotics WS 2004. LNCS, vol. 3342, pp. 10–20. Springer, Heidelberg (2005)CrossRefGoogle Scholar
  8. 8.
    Dorigo, M., Tuci, E., Groß, R., Trianni, V., Labella, T.H., Nouyan, S., Ampatzis, C., Deneubourg, J.-L., Baldassarre, G., Nolfi, S., Mondada, F., Floreano, D., Gambardella, L.M.: The SWARM-BOTS Project. In: Şahin, E., Spears, W.M. (eds.) Swarm Robotics WS 2004. LNCS, vol. 3342, pp. 31–44. Springer, Heidelberg (2005)CrossRefGoogle Scholar
  9. 9.
  10. 10.
    Tuci, E., Ampatzis, C., Vicentini, F., Dorigo, M.: Evolved Homogeneous Neuro-controllers for Robots with Different Sensory Capabilities: Coordinated Motion and Cooperation. In: Nolfi, S., Baldassarre, G., Calabretta, R., Hallam, J.C.T., Marocco, D., Meyer, J.-A., Miglino, O., Parisi, D. (eds.) SAB 2006. LNCS (LNAI), vol. 4095, pp. 679–690. Springer, Heidelberg (2006)CrossRefGoogle Scholar
  11. 11.
    Groß, R., Tuci, E., Dorigo, M., Bonani, M., Mondada, F.: Object Transport by Modular Robots that Self-assemble. In: Proc. of the 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, pp. 2558–2564 (2006)Google Scholar
  12. 12.
    Ohkura, K., Yasuda, T., Kawamatsu, Y., Matsumura, Y., Ueda, K.: MBEANN: Mutation-Based Evolving Artificial Neural Networks. In: Almeida e Costa, F., Rocha, L.M., Costa, E., Harvey, I., Coutinho, A. (eds.) ECAL 2007. LNCS (LNAI), vol. 4648, pp. 936–945. Springer, Heidelberg (2007)CrossRefGoogle Scholar
  13. 13.
    Sahin, E., Girgin, S., Bayindir, L., Turgut, A.E.: Swarm Robotics. In: Blum, C., Merkle, D., (eds.) Swarm Intelligence - Introduction and Applications, pp. 87–100. Springer (2008)Google Scholar
  14. 14.
    Groß, R., Dorigo, M.: Towards Group Transport by Swarms of Robots. International Journal of Bio-Inspired Computation 1(1-2), 1–13 (2009)CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Kazuhiro Ohkura
    • 1
  • Toshiyuki Yasuda
    • 1
  • Chikara Morishita
    • 1
  • Yoshiyuki Matsumura
    • 2
  1. 1.Hiroshima UniversityHigashiJapan
  2. 2.Shinshu UniversityUedaJapan

Personalised recommendations