Abstract This article describes an integrated environment developed for the evaluation of localiz... more Abstract This article describes an integrated environment developed for the evaluation of localization and navigation algorithms for mobile robots. The integrated environment, named KITE, superimposes spatial information obtained from the robot and its sensors, upon an overhead view of the robot's environment. Using the overhead view as the common coordinate system, KITE creates an ideal test-bed in which navigation and localization algorithms can be visually and quantitatively evaluated in real time.
Abstract Recent advances in robotics have started making it feasible to deploy large numbers of i... more Abstract Recent advances in robotics have started making it feasible to deploy large numbers of inexpensive robots for tasks such as surveillance and search. However, coordination of multiple robots to accomplish such tasks remains a challenging problem. This report reviews some of the recent literature in multi-robot systems. It consists of two parts. In the first part, we reviewed the studies on the pattern formation problem, that is how can a group of robots be controlled to get into and maintain a formation.
In this paper, we study how flocking affects the accuracy and speed of individuals in long-range ... more In this paper, we study how flocking affects the accuracy and speed of individuals in long-range “migration”. Specifically, we extend a behavior that can generate self-organized flocking in a swarm of robots to follow a homing direction sensed through the magnetic field of the Earth and evaluate how the final points reached by the flock are scattered in space and how the speed of the flock is affected.
Abstract We introduce a new robotic system, called swarm-bot. The system consists of a swarm of m... more Abstract We introduce a new robotic system, called swarm-bot. The system consists of a swarm of mobile robots with the ability to connect to/disconnect from each other to self-assemble into different kinds of structures. First, we describe our vision and the goals of the project. Then we present preliminary results on the formation of patterns obtained from a grid-world simulation of the system.
Abstract In this paper, we used the affordance formalization framework (Sahin et al; Adaptive Beh... more Abstract In this paper, we used the affordance formalization framework (Sahin et al; Adaptive Behavior, 15 (4), 447-472, 2007) to link the concepts represented by verbs and nouns in language to the affordance relations that a robot acquires through its interaction with the environment. First, we argued that a verb is linked not to a specific behavior of the robot, but to a specific effect that different behaviors may generate.
In this paper, we introduce a self-assembling and self-organizing artifact, called a swarm-bot, c... more In this paper, we introduce a self-assembling and self-organizing artifact, called a swarm-bot, composed of a swarm of s-bots, mobile robots with the ability to connect to and to disconnect from each other. We discuss the challenges involved in controlling a swarm-bot and address the problem of synthesizing controllers for the swarm-bot using artificial evolution. Specifically, we study aggregation and coordinated motion of the swarm-bot using a physics-based simulation of the system.
Abstract This article describes an integrated environment developed for the evaluation of localiz... more Abstract This article describes an integrated environment developed for the evaluation of localization and navigation algorithms for mobile robots. The integrated environment, named KITE, superimposes spatial information obtained from the robot and its sensors, upon an overhead view of the robot's environment. Using the overhead view as the common coordinate system, KITE creates an ideal test-bed in which navigation and localization algorithms can be visually and quantitatively evaluated in real time.
Abstract. Self-assembly, the self-organized creation of structures composed of independent entiti... more Abstract. Self-assembly, the self-organized creation of structures composed of independent entities, represents a challenging class of problems for swarm intelligence. In this report, we present some preliminary results on pattern formation carried out by a group of simulated robots. We have defined a control architecture based on probabilistic choices of different basic behaviors. This architecture allows us to define the behavior of the robots, such that their interactions lead the group to form a desired pattern.
Abstract In this report, we studied how a mobile robot equipped with a 3D laser scanner can start... more Abstract In this report, we studied how a mobile robot equipped with a 3D laser scanner can start from primitive behaviors and learn to use them to achieve goal-directed behaviors. For this purpose, we used the concept of “affordances”, for which we propose a formalization targeted specifically to be used in robot control and learning.
PES is a platform to parallelize evolutionary methods on a group of computers connected via a net... more PES is a platform to parallelize evolutionary methods on a group of computers connected via a network. It separates the fitness evaluation of genotypes from other tasks (such as selection and reproduction) and distributes these evaluations onto a group of computers to be processed in parallel.
Bu bildiride, sürü robot sistemleri için ideal bir robotun özellikleri tartısılmıs ve bunları müm... more Bu bildiride, sürü robot sistemleri için ideal bir robotun özellikleri tartısılmıs ve bunları mümkün oldugunca karsılayabilmek amacıyla gelistirdigimiz Kobot platformu incelenmistir. Ortam ısıgından ve diger robotlardan az etkilenmesi için tasarlanan bir kızılötesi kısa mesafe algılama sistemi anlatılarak, basarımı sistematik deneylerle degerlendirilmistir. IEEE802. 15.4/ZigBee tabanlı haberlesme sistemi ve robotları teker teker ya da paralel programlayabilen kablosuz programlama sistemi anlatılmıstır.
Robot ogullarının koordinasyonlarının temelinde bulunan kendi-kendine örgütlenme mekanizması ogul... more Robot ogullarının koordinasyonlarının temelinde bulunan kendi-kendine örgütlenme mekanizması ogulları karmasık bir sistem (complex system) haline getirmekte ve bunların kontrolünü önemli bir problem olarak önümüze koymaktadır. Bu probleme çözüm bulmak amacıyla, yürütülmekte olan çalısmamızda robot ogullarının davranıslarının dısarıdan nasıl ve ne sekilde kontrol edilecegi incelenmektedir. Bu amaçtan yola çıkarak “kobot” ve “çobot” olarak adlandırılan iki tip gezer robottan olusan bir robot ogulu gelistirilecektir.
Bu bildiride, ogul robot sistemleri için tasarlanmıs gezer robotların üzerine yerlestirilmis küre... more Bu bildiride, ogul robot sistemleri için tasarlanmıs gezer robotların üzerine yerlestirilmis küresel bir ayna ve bu aynayı gören bir kamera yardımıyla 360 derecelik görüntü verisi almaya dayanan bir görüntüleme sistemi anlatılmıstır. Ogul robotların davranıslarında kararlı olabilmeleri, görüntüleme sisteminin hızlı ve kararlı bir biçimde çevreyi algılayabilmesine baglıdır.
Abstract Human infants practice their initial, seemingly random arm movements for transforming th... more Abstract Human infants practice their initial, seemingly random arm movements for transforming them into voluntary reaching and grasping actions. With the developing perceptual abilities, infants further explore their environment using the behavior repertoire they have developed, and learn causality relations in the form of affordances, which they use for goal satisfaction and motor planning.
Abstract. We are interested in the problem of how a mobile robot can measure the area of a closed... more Abstract. We are interested in the problem of how a mobile robot can measure the area of a closed region that is beyond its immediate sensing range. Our inspiration comes from scout worker ants who assess potential nest cavities. These scouts work literally in dark to assess arbitrary closed spaces. Experimental studies have shown that the scouts can reliably reject nest sites that are small for the colony. These studies support the hypothesis that scouts use the “Buffon's needle method” to measure the area of the nest.
ANTS is the oldest conference series dedicated to the dissemination of swarm intelligence researc... more ANTS is the oldest conference series dedicated to the dissemination of swarm intelligence research. Its first edition took place in 1998, at the Université Libre de Bruxelles, Brussels, Belgium. Since then it has been held every other year. This special issue of Swarm Intelligence collects extended versions of some of the best papers published in the proceedings of ANTS 2010, the Seventh International Conference on Swarm Intelligence, which took place in Brussels on September 8–10, 2010.
Abstract The problem of dispersion in multi-robot systems could be loosely defined as maximizing ... more Abstract The problem of dispersion in multi-robot systems could be loosely defined as maximizing the sensor coverage area while preserving the connectivity within the swarm. Dispersion of robotic swarms appears to be applicable and useful in missions such as planetary exploration, hurricane surveillance, or nuclear decontamination, where the robots with maximal coverage collect samples from the unknown surface, detect the victims, or collect nuclear waste, respectively.
Abstract In this paper, we study how the concepts learned by a robot can be linked to verbal conc... more Abstract In this paper, we study how the concepts learned by a robot can be linked to verbal concepts that humans use in language. Specifically, we develop a simple tapping behaviour on the iCub humanoid robot simulator and allow the robot to interact with a set of objects of different types and sizes to learn affordance relations in its environment. The robot records its perception, obtained from a range camera, as a feature vector, before and after applying tapping on an object.
Abstract" Developmental robotics" proposes that, instead of trying to build a robot that shows in... more Abstract" Developmental robotics" proposes that, instead of trying to build a robot that shows intelligence once and for all, what one must do is to build robots that can develop. These robots should be equipped with behaviors that are simple but enough to bootstrap the system. Then, as the robot interacts with its environment, it should display increasingly complex behaviors. In this paper, we propose such a development scheme for a mobile robot.
Abstract This article describes an integrated environment developed for the evaluation of localiz... more Abstract This article describes an integrated environment developed for the evaluation of localization and navigation algorithms for mobile robots. The integrated environment, named KITE, superimposes spatial information obtained from the robot and its sensors, upon an overhead view of the robot's environment. Using the overhead view as the common coordinate system, KITE creates an ideal test-bed in which navigation and localization algorithms can be visually and quantitatively evaluated in real time.
Abstract Recent advances in robotics have started making it feasible to deploy large numbers of i... more Abstract Recent advances in robotics have started making it feasible to deploy large numbers of inexpensive robots for tasks such as surveillance and search. However, coordination of multiple robots to accomplish such tasks remains a challenging problem. This report reviews some of the recent literature in multi-robot systems. It consists of two parts. In the first part, we reviewed the studies on the pattern formation problem, that is how can a group of robots be controlled to get into and maintain a formation.
In this paper, we study how flocking affects the accuracy and speed of individuals in long-range ... more In this paper, we study how flocking affects the accuracy and speed of individuals in long-range “migration”. Specifically, we extend a behavior that can generate self-organized flocking in a swarm of robots to follow a homing direction sensed through the magnetic field of the Earth and evaluate how the final points reached by the flock are scattered in space and how the speed of the flock is affected.
Abstract We introduce a new robotic system, called swarm-bot. The system consists of a swarm of m... more Abstract We introduce a new robotic system, called swarm-bot. The system consists of a swarm of mobile robots with the ability to connect to/disconnect from each other to self-assemble into different kinds of structures. First, we describe our vision and the goals of the project. Then we present preliminary results on the formation of patterns obtained from a grid-world simulation of the system.
Abstract In this paper, we used the affordance formalization framework (Sahin et al; Adaptive Beh... more Abstract In this paper, we used the affordance formalization framework (Sahin et al; Adaptive Behavior, 15 (4), 447-472, 2007) to link the concepts represented by verbs and nouns in language to the affordance relations that a robot acquires through its interaction with the environment. First, we argued that a verb is linked not to a specific behavior of the robot, but to a specific effect that different behaviors may generate.
In this paper, we introduce a self-assembling and self-organizing artifact, called a swarm-bot, c... more In this paper, we introduce a self-assembling and self-organizing artifact, called a swarm-bot, composed of a swarm of s-bots, mobile robots with the ability to connect to and to disconnect from each other. We discuss the challenges involved in controlling a swarm-bot and address the problem of synthesizing controllers for the swarm-bot using artificial evolution. Specifically, we study aggregation and coordinated motion of the swarm-bot using a physics-based simulation of the system.
Abstract This article describes an integrated environment developed for the evaluation of localiz... more Abstract This article describes an integrated environment developed for the evaluation of localization and navigation algorithms for mobile robots. The integrated environment, named KITE, superimposes spatial information obtained from the robot and its sensors, upon an overhead view of the robot's environment. Using the overhead view as the common coordinate system, KITE creates an ideal test-bed in which navigation and localization algorithms can be visually and quantitatively evaluated in real time.
Abstract. Self-assembly, the self-organized creation of structures composed of independent entiti... more Abstract. Self-assembly, the self-organized creation of structures composed of independent entities, represents a challenging class of problems for swarm intelligence. In this report, we present some preliminary results on pattern formation carried out by a group of simulated robots. We have defined a control architecture based on probabilistic choices of different basic behaviors. This architecture allows us to define the behavior of the robots, such that their interactions lead the group to form a desired pattern.
Abstract In this report, we studied how a mobile robot equipped with a 3D laser scanner can start... more Abstract In this report, we studied how a mobile robot equipped with a 3D laser scanner can start from primitive behaviors and learn to use them to achieve goal-directed behaviors. For this purpose, we used the concept of “affordances”, for which we propose a formalization targeted specifically to be used in robot control and learning.
PES is a platform to parallelize evolutionary methods on a group of computers connected via a net... more PES is a platform to parallelize evolutionary methods on a group of computers connected via a network. It separates the fitness evaluation of genotypes from other tasks (such as selection and reproduction) and distributes these evaluations onto a group of computers to be processed in parallel.
Bu bildiride, sürü robot sistemleri için ideal bir robotun özellikleri tartısılmıs ve bunları müm... more Bu bildiride, sürü robot sistemleri için ideal bir robotun özellikleri tartısılmıs ve bunları mümkün oldugunca karsılayabilmek amacıyla gelistirdigimiz Kobot platformu incelenmistir. Ortam ısıgından ve diger robotlardan az etkilenmesi için tasarlanan bir kızılötesi kısa mesafe algılama sistemi anlatılarak, basarımı sistematik deneylerle degerlendirilmistir. IEEE802. 15.4/ZigBee tabanlı haberlesme sistemi ve robotları teker teker ya da paralel programlayabilen kablosuz programlama sistemi anlatılmıstır.
Robot ogullarının koordinasyonlarının temelinde bulunan kendi-kendine örgütlenme mekanizması ogul... more Robot ogullarının koordinasyonlarının temelinde bulunan kendi-kendine örgütlenme mekanizması ogulları karmasık bir sistem (complex system) haline getirmekte ve bunların kontrolünü önemli bir problem olarak önümüze koymaktadır. Bu probleme çözüm bulmak amacıyla, yürütülmekte olan çalısmamızda robot ogullarının davranıslarının dısarıdan nasıl ve ne sekilde kontrol edilecegi incelenmektedir. Bu amaçtan yola çıkarak “kobot” ve “çobot” olarak adlandırılan iki tip gezer robottan olusan bir robot ogulu gelistirilecektir.
Bu bildiride, ogul robot sistemleri için tasarlanmıs gezer robotların üzerine yerlestirilmis küre... more Bu bildiride, ogul robot sistemleri için tasarlanmıs gezer robotların üzerine yerlestirilmis küresel bir ayna ve bu aynayı gören bir kamera yardımıyla 360 derecelik görüntü verisi almaya dayanan bir görüntüleme sistemi anlatılmıstır. Ogul robotların davranıslarında kararlı olabilmeleri, görüntüleme sisteminin hızlı ve kararlı bir biçimde çevreyi algılayabilmesine baglıdır.
Abstract Human infants practice their initial, seemingly random arm movements for transforming th... more Abstract Human infants practice their initial, seemingly random arm movements for transforming them into voluntary reaching and grasping actions. With the developing perceptual abilities, infants further explore their environment using the behavior repertoire they have developed, and learn causality relations in the form of affordances, which they use for goal satisfaction and motor planning.
Abstract. We are interested in the problem of how a mobile robot can measure the area of a closed... more Abstract. We are interested in the problem of how a mobile robot can measure the area of a closed region that is beyond its immediate sensing range. Our inspiration comes from scout worker ants who assess potential nest cavities. These scouts work literally in dark to assess arbitrary closed spaces. Experimental studies have shown that the scouts can reliably reject nest sites that are small for the colony. These studies support the hypothesis that scouts use the “Buffon's needle method” to measure the area of the nest.
ANTS is the oldest conference series dedicated to the dissemination of swarm intelligence researc... more ANTS is the oldest conference series dedicated to the dissemination of swarm intelligence research. Its first edition took place in 1998, at the Université Libre de Bruxelles, Brussels, Belgium. Since then it has been held every other year. This special issue of Swarm Intelligence collects extended versions of some of the best papers published in the proceedings of ANTS 2010, the Seventh International Conference on Swarm Intelligence, which took place in Brussels on September 8–10, 2010.
Abstract The problem of dispersion in multi-robot systems could be loosely defined as maximizing ... more Abstract The problem of dispersion in multi-robot systems could be loosely defined as maximizing the sensor coverage area while preserving the connectivity within the swarm. Dispersion of robotic swarms appears to be applicable and useful in missions such as planetary exploration, hurricane surveillance, or nuclear decontamination, where the robots with maximal coverage collect samples from the unknown surface, detect the victims, or collect nuclear waste, respectively.
Abstract In this paper, we study how the concepts learned by a robot can be linked to verbal conc... more Abstract In this paper, we study how the concepts learned by a robot can be linked to verbal concepts that humans use in language. Specifically, we develop a simple tapping behaviour on the iCub humanoid robot simulator and allow the robot to interact with a set of objects of different types and sizes to learn affordance relations in its environment. The robot records its perception, obtained from a range camera, as a feature vector, before and after applying tapping on an object.
Abstract" Developmental robotics" proposes that, instead of trying to build a robot that shows in... more Abstract" Developmental robotics" proposes that, instead of trying to build a robot that shows intelligence once and for all, what one must do is to build robots that can develop. These robots should be equipped with behaviors that are simple but enough to bootstrap the system. Then, as the robot interacts with its environment, it should display increasingly complex behaviors. In this paper, we propose such a development scheme for a mobile robot.
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