R. C. Kube and E. Bonabeau. Cooperative transport by ants and robots. Robotics and Autonomous Systems, 30(1/2):85--101, 2000.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....redundancy but also through the design of minimalist units. Several examples of collective robotics tasks solved with swarm intelligence principles can be found in the literature: aggregation [67] and segregation [43] beacon localization [39] stick pulling [45] and collective transportation [56]. To summarize, there are currently two leading approaches to control that can address the problem of imperfect sensing and may yield robotic systems that function well in dynamic environments. One is hybrid control, which attempts to explicitly account for sensory uncertainty and behave ....

C. R. Kube and E. Bonabeau. Cooperative transport by ants and robots. Robotics and Autonomous Systems, 30:85--101, 2000.

....and physical structures, even if each individual appears to work alone [16] Deneubourg and his collaborators pioneered the first experiments on stigmergy in simulated and physical ant like robots [10,53] in the early 1990s. Since then, numerous researchers have developed robot collectives [88,106] and have used robots as models for studying social insect behavior [87] Similar principles can be found in multi robot or distributed robotic systems research [101] Some of the interaction mechanisms employed are communication [6] interference [68] and aggressive competition [159] Common to ....

....mammals (including humans, birds, and other animals) often form individualized societies. Individualized societies differ from anonymous societies because the individual matters. Fig. 2. U Bots sorting objects [106] Fig. 3. Khepera robots foraging for food [87] Fig. 4. Collective box pushing [88]. Although individuals may live in groups, they form relationships and social networks, they create alliances, and they often adhere to societal norms and conventions [38] Fig. 5) In [44] Dautenhahn and Billard proposed the following definition: Social robots are embodied agents that are ....

C. Kube, E. Bonabeau, Cooperative transport by ants and robots, Robotics and Autonomous Systems 30 (2000) 85--101.

....the robots currently pulling the stick time out, the pulling process need not to be restarted from scratch. We call the type of collaboration required for pulling heavier sticks parallel collaboration. It is worth noticing that this task presents some similarity with Kube and Bonabeau s work in [11], where a group of robots try to move large and heavy boxes. 2.3 Learning Algorithm We proposed and tested an adaptive line search algorithra in the original stick pulling experiments and found the algorithra could achieve near optimal performances in varying environment with different starting ....

Kube, C.R., and Bonabeau E. Cooperative transport by ants and robots. Robotics and Autonomous Systems 30, 1-2 (2000), 85-101.

....that could beat a team of Biter agents with the default behavior. All groups were able to achieve this goal, with varying degrees of success. The results of the second tournament were impressive. All of the teams implemented complex strategies. Many of the teams utilized flexible zones, stigmergy [8], and broadcast communications. For example, some groups were able to have the players switch between a set of modes that determined the overall strategy being used (e.g. aggressive versus protective) The players would achieve this without any explicit communication, using only cues from the ....

Kube, C. R., and Bonabeau, E. Cooperative transport by ants and robots. Santa Fe 99-01-008.

....and physical structures, whilst each individual seemingly works on its own[16] Deneubourg and his collaborators pioneered the first experiments on stigmergy in simulated and physical ant like robots [54,10] in the early 1990 s. Since then, numerous researchers have developed robot collectives[90,108] and have used robots as models for studying social insect behavior[89] Similar principles can be found in multi robot or distributed robotic systems research[103] Some of the interaction mechanisms employed are communication [6] interference among agents[69] and aggressive competition[163] ....

....do not matter. This type of social behavior has proven to be an attractive model for robotics, particularly because it enables groups of relatively simple robots perform di#cult tasks (e.g. playing soccer) Fig. 3. Khepera robots foraging for food [89] Fig. 4. Collective box pushing (from[90]) Fig. 5. Early individual social robots: getting to know each other (left, 39] and learning by imitation (right, 12,13] However, many species of mammals (including humans) birds, and other animals often form an individualized society. Individualized societies di#er from anonymous ....

C. Kube and E. Bonabeau, Cooperative transport by ants and robots, Rob. Auton. Sys. 30 (1-2) 2000.

....only through unit redundancy but also through the design of minimalist units. Several examples of collective robotics tasks solved with SI principles can be found in the literature: aggregation [10] and segregation [11] beacon localization [12] stick pulling [13] and collective transportation [14]. The aim of the case study described in this paper is fourfold. First, we describe a distributed algorithm by which groups of agents can solve the full odor localization task. Second, we establish that conducting polymer based odor sensors possess the combination of speed and sensitivity ....

C. R. Kube and E. Bonabeau, "Cooperative transport by ants and robots," Robotics and Autonomous Systems, vol. 30, pp. 85--101, 2000.

.... In the last few years, the swarm intelligence control principles have been successfully applied to a series of case studies in collective robotics: aggregation [2, 21, 20] and segregation [13] beacon and odor localization [11, 12] collaborative mapping [4] collaborative transportation [15, 17], work division and task allocation [16, 1] flocking and foraging [23] All these works have been performed using groups of simple, autonomous robots or embodied simulated agents, exploiting local communication forms among teammates (implicit, through the environment, or explicit, wireless ....

....complete the task on its own. Such systems are common in insect as well as human societies, e.g. transport of objects too heavy or awkward to be lifted by a single ant, flying the space shuttle, playing a soccer match, etc. Collaboration in a group of robots has been studied by several groups [24, 22, 29, 17, 30, 14]. We will focus on a specific case study initiated by Martinoli and collaborators [22] and studied in detail by Ijspeert et al. 14] that take a Swarm Intelligence approach to collaboration. In this system collaboration in a group of simple reactive agents was achieved entirely through local ....

C. R. Kube and E. Bonabeau. Cooperative transport by ants and robots. Robotics and Autonomous Systems, 30(1--2):85--101, 2000.

....in an unknown, unstructured environment. Cooperative transport is a task found in many real world situations. Ants of various species, for example, perform it in order to move back to their nest large preys otherwise impossible for a single ant to retrieve. As pointed by Kube and Bonabeau in [11] the coordination of ants collective trans port seems to occur through the item being transported, since a movement caused by one ant modifies the stimuli perceived by its teammates, which consequently produces changes in their position and orientation. Like the ants, our robots sense the ....

....[13] Yet, Sugar et al. 18] observed that it is not clear whether the behavior based methodol ogy could be applied to controlling grasp forces in order to hold and transport objects [7] which is an example of a tightly coupled task. Although Matarid et al. 12] and Kube and Bonabeau [11] have implemented cooperative behaviorbased robotic systems in box pushing tasks, Parker [14] has pointed that carrying an object is considerably more difficult than pushing it, since the carrying task requires the robots to maintain appropriate grasp on the object, while navigating to a given ....

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C. R. Kube and E. Bonabeau. Cooperative transport by ants and robots. Robotics and Autonomous Systems, 30:85-101, 2000.

....is that the results of this work shall be immediately accessible to the vast majority of internet users. 3. DESIGN OF THE GENERAL MODEL Models based on the social ant have been used successfully on numerous occasions to develop corresponding robot behaviors such as Cooperative Transport [14], returning to a base location by using light direction as a navigational aid [15] Trail Formation, foraging patterns and self organizing systems [ 16] In each of these the observed behavior of various ant species has been the inspiration for development of similar behaviors in robots. In [ 14] ....

....[14] returning to a base location by using light direction as a navigational aid [15] Trail Formation, foraging patterns and self organizing systems [ 16] In each of these the observed behavior of various ant species has been the inspiration for development of similar behaviors in robots. In [ 14] the cooperative behavior of worker ants during the retrieval of large prey items ;vas the foundation for a robotic system capable of using a small s;varm of ant like robots to retrieve various sizes of box and deliver these to a goal location. This ;vas achieved through a decentralized ....

[Article contains additional citation context not shown here]

Kube, R.C., and Bonabeau, E. Cooperative transport by ants and robots. Edmonton Research Centre, Syncurde Canada Ltd, and Santa Fe Institute, Santa Fe USA. (1998). http://citeseer. nj.nec.com/

....4 Final Considerations and Future Work Research on collective handling of objects and box pushing is closely related to our work, in particular the implementation of the rescue of a robot. Interesting algorithms and collaborative strategies have been reported by Stillwell [14] Mataric [9] Kube [8] and Yamada [16] They show how groups of non cognitive robots are able to coordinate their movements in order to push an object collectively. The notion of situated cooperation is also used by Garbis [6] in a study of rescue training. This work discusses the di erence between the cooperation ....

Kube C.R., Bonabeau E.: Cooperative transport by ants and robots. Dans: Robotics and Autonomous Systems. Elsevier Science (2000) 85-101

....help signal received endif endwhile End of algorithm 3.2 Related Work The research in collective manipulation of objects and box pushing algorithms is strongly related with our work. Interesting algorithms and collaborative strategies have been reported by Stilwell [12] Mataric [10] Kube [8, 9] and Yamada [13] They show how groups of non cognitive robots are able to coordinate their movements in order to push collectively an object. 7 The works concerned with cooperation as a phenomenon based on stigmergy are also relevant for us. Stigmergy is the principle by which the result of the ....

Kube C.R., Bonabeau E. Cooperative transport by ants and robots. Preprint submitted to Robotics and Autonomous Systems. (1998)

....not only through unit redundancy but also through the design of minimalist units. Several examples of collective robotics tasks solved with SI principles can be found in the literature: aggregation [2] and segregation [3] exploration [4] stick pulling [5] and collaborative transportation [6]. Recently, advances have been made in understanding biological and artificial odor classification and odor localization as developed in moths [7,8] and rats [9] in air, and lobsters [10] and stomatopods [11] in water. Biology utilizes olfaction for a wide variety of tasks including finding ....

C. R. Kube and E. Bonabeau, "Cooperative transport by ants and robots," Robotics and Autonomous Systems, vol. 30, pp. 85-101, 2000.

....through unit redundancy but also through the unit minimalistic design. Several examples of collective robotics tasks solved with swarm intelligence principles can be found in the literature: aggregation [2,3] and segregation [4] exploration [5] stick pulling [6] and collective transportation [7,8]. One way to increase the performance of a robot swarm is collaboration. In particular, if collaboration is obtained with simple explicit communication schemes such as binary signaling, the team performance can be enhanced without losing autonomy or significantly increasing the complexity at the ....

C. R. Kube and E. Bonabeau. Cooperative transport by ants and robots. Robotics and Autonomous Systems, 30:85--101, 2000.

....behavior. All groups were able to achieve this goal, with varying degrees of success. The results of the second tournament were impressive. 1 Available at http: www.multiagent.com arch All of the teams implemented complex strategies. Many of the teams utilized flexible zones, stigmergy [5], and broadcast communications. For example, some groups were able to have the players switch between a set of modes that determined the overall strategy being used (e.g. aggressive versus protective) The players would achieve this without any explicit communication, using only cues from the ....

Kube, C. R., and Bonabeau, E. Cooperative transport by ants and robots. Santa Fe 99-01-008.

....common in insect and human societies, e.g. in transport of an object too heavy or awkward to be lifted by a single ant, flying the space shuttle, running a business or an ant colony, etc. Collaboration in a group of robots has been studied by several groups (Mataric, Nilsson, Simsarian, 1995; Kube Bonabeau, 2000; Martinoli Mondada, 1995; Ijspeert et al. 2001) We will focus on one group of experiments initiated by Martinoli and collaborators (Martinoli Mondada, 1995) and studied by Ijspeert et al. Ijspeert et al. 2001) that take a swarm approach to collaboration. In this system collaboration in a ....

Kube, C. R., & Bonabeau, E. (2000). Cooperative transport by ants and robots. Robotics and Autonomous Systems, 30 (1--2), 85--101.

....collaborative [30] systems are common in insect and human societies, e.g. in transport of an object too heavy or awkward to be lifted by a single ant, ying the space shuttle, running a business or an ant colony, etc. Collaboration in a group of robots has been studied by several groups [32, 24, 29, 22]. We will focus on one group of experiments initiated by Martinoli and collaborators [29] and studied by Ijspeert et al. 22] that take a swarm approach to collaboration. In this system collaboration in a homogeneous group of simple reactive agents was achieved entirely through local interactions, ....

C. R. Kube and E. Bonabeau. Cooperative transport by ants and robots. Robotics and Autonomous Systems, 30(1-2):85-101, 2000.

....limits will need to be cleared using a cooperative multiple robot strategy. Terrain conditioning shares many of the elements of the cooperative box pushing task [Huntsberger, Mataric, Pirjanian (1999) Cooperative robotic box pushing has been the subject of numerous recent research studies [Kube Bonabeau (1999) and references therein] SEQUENCE MASS MOVEMENT REQUIREMENTS Unload boxes 25 X 83 kg 5 meters Stereo cameras Manipulator arm Traverse to deployment site 25 X 83 kg 200 meters Stereo cameras Coupled navigation Placement of boxes 25 X 83 kg 50 meters Stereo cameras Manipulator arm ....

Kube & Bonabeau (1999): "Cooperative transport by ants and robots", Tech Report 99--01-008, Santa Fe Institute, Santa Fe, NM.

....if all of the significant rocks are within the size and mass constraints that the robot is able to handle. Rocks that are outside these limits will need to be cleared using a cooperative multiple robot strategy. This strategy is based on an ant food transport study done by Kube and Bonabeau [15], that includes a recruitment behavior for the case when a single robot cannot move a rock. Call for Help, Broadcast, and Respond to Call behaviors are used to implement the strategy. We ran 100 trials each with colonies of from two to six dozers using a randomly generated height field. The area ....

C. R. Kube & E. Bonabeau, "Cooperative transport by ants and robots", TR 99--01-008, Santa Fe Institute, Santa Fe, NM, 1999.

....et al. 1997) Such behavior is the result of the interaction of many individuals doted with simple behaviors and simple learning capabilities. In addition to being a decentralized system, insect societies exhibit flexibility and robustness, two desirable features for any engineering solution (Kube and Bonabeau, 2000). Honey bees have long served as a model organism for investigating insect navigation (McFarland, 1999) Researchers in artificial intelligence have also been interested in honey bees, particularly for their collective behavior. Insect societies exhibit division of labor and cooperate through ....

Kube, C. and Bonabeau, R. (2000). Cooperative transport by ants and robots. Robotics and Autonomous Systems, 30(1-2):85--101.

....End of algorithm The critical part of pushing one object by one or more robots will be soon initiated with physical robots. This part of the project is closely related with experiments in collective transporting of objects. The box pushing algorithms (Stilwell Bay 1993, Mataric et al. 1995, Kube Bonabeau 1998, Yamada Saito 1999, Bonabeau et al. 1999) are specially relevant to our work because our agenda considers the gradual manipulation of objects, starting from simple ones (like boxes) to complicated ones (like the robots) and the transportation of objects without an accurate direction, to the ....

....manipulation of objects is strongly related with our work. Interesting algorithms and collaborative strategies for the collective transport of objects with physical robots have been reported by Stilwell, Mataric, Kube and Yamada (Stillwell Bay 1993, Mataric et al. 1995, Kube Zhang 1996, Kube Bonabeau 1998, Yamada Sahito 1999) They show how groups of non cognitive robots are able to coordinate their movements in order to push collectively an object. The works concerned with cooperation as a phenomenon based on stigmergy mechanisms are also relevant for us. Stigmergy is the principle by which ....

Kube & Bonabeau 1998. Kube C.R., Bonabeau E. Cooperative transport by ants and robots. Preprint submitted to Robotics and Autonomous Systems.

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R. C. Kube and E. Bonabeau. Cooperative transport by ants and robots. Robotics and Autonomous Systems, 30(1/2):85--101, 2000.

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C. R. Kube and E. Bonabeau. Cooperative transport by ants and robots. Robot. Auton. Syst., 30(1--2):85--101, 2000.

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C. R. Kube and E. Bonabeau, "Cooperative transport by ants and robots," Robotics and Autonomous Systems, vol. 30, no. 1, pp. 85--101, 2000.

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R. C. Kube and E. Bonabeau. Cooperative transport by ants and robots. Robotics and Autonomous Systems, 30(1/2):85--101, 2000.

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C. Ronald Kube and E. Bonabeau. Cooperative transport by ants and robots. Robotics and Autonomous Systems, 30(1):85--101, 2000.

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