A. Martinoli, E. Franzi, and O. Matthey. Towards a reliable set-up for bioinspired collective experiments with real robots. In A. Casals and A. de Almeida, editors, Proceedings of the Fifth Symposium on Experimental Robotics ISER-97, pages 597--608. Springer Verlag, 1997.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....controller and motors. Power is also sent to a circuit that maintains a small rechargeable cell, which is used only in the event of momentary loss of contact with the floor. While building our powered floor, we learned of two other research groups that have built floors of similar construction [Martinoli et al. 1997, Keating, 1998] These parallel efforts attest to the viability and utility of this power supply approach. Other approaches [AAIS, 1998] like earlier prototypes of our own, use a floor and ceiling bumper car style set up. 3.3 A Distributed Evolutionary Algorithm The principal components of ....

Martinoli, A., Franzi, E., and Matthey, O. (1997). Towards a reliable set-up for bio-inspired collective experiments with real robots. In Casals, A. and de Almeida, A., editors, Proceedings of the Fifth Symposium on Experimental Robotics ISER-97, pages 597--608. Springer Verlag.

....determining their 1 All sensors used in the simulations exist and could be used on the real Khepera robots. position and orientation with precisions of 5mm and 5 to 10 degrees, respectively. The robots are continuously powered by the arena s floor, which is covered with electrified copper bands [12]. Although the robots are provided with ground color detectors and can thus distinguish between patches on the floor (the objects in the simulation) and the rest of the arena, the objects in the physical experiments are defined virtually (that is, the locations of the patches are predefined in ....

A. Martinoli, E. Franzi, and O. Mattey. "Towards a reliable set-up for bio-inspired collective experiments with real robots." In A. Casals and A. T. de Almeida, editors, Proc. of the Fifth International Symposium on Experimental Robotics ISER97, pages 597-608, Barcelona, Spain, June 1997. Springer-Verlag.

.... System [11] for determining their position with 5mm precision and orientation (virtual compass with a precision of 5 to 10 degrees) 4 The robots are continuously powered by the arena s floor, which is covered with an electrified copper bands (the robot runs on 5V using about 400 mA) [13]. The electrical contacts with the ground are not perfect (contact may break when the robot makes a sharp turn or strong acceleration) These occasional electrical shorting are compensated by the robot s on board battery. This set up provides the robot with an autonomy open end, tested up of 3 ....

A. Martinoli, E. Franzi, and O. Mattey. "Towards a reliable set-up for bio-inspired collective experiments with real robots." In A. Casals and A. T. de Almeida, editors, Proc. of the Fifth International Symposium on Experimental Robotics ISER97, pages 597-608, Barcelona, Spain, June 1997. Springer-Verlag.

....group sizes, except for the longest experiments which have been realized only with a group of three real robots. It is worth to notice that the about 18 hours needed for all the runs of the long experiments with real robots have been performed without any recharging break thanks a special tool [6, 7] which allows the robots to be supplied from the floor (see Fig. 2) 0 2 4 6 8 10 12 14 16 0 1 2 3 4 5 time [min] 1 robot 2 robots 3 robots 4 robots 5 robots 0 2 4 6 8 10 12 14 16 0 1 2 3 4 5 time [min] 1 robot 2 robots 3 robots 4 robots 5 robots 0 2 4 6 8 10 12 14 16 0 1 2 3 4 5 time [min] 1 ....

A. Martinoli, E. Franzi, and O. Matthey. Towards a reliable set-up for bio-inspired collective experiments with real robots. In A. Casals and A. T. de Almeida, editors, Proc. of the Fifth International Symposium on Experimental Robotics ISER-97, pages 597--608, Barcelona, Spain, June 1997. Springer Verlag.

....autonomy of Khepera for performing longer clustering experiments without battery recharging breaks, we have developped an original device to supply the robot from the floor. Fig. 1a and b show the two main components of this device. A more detailed description of this tool has been presented in [6]. The experiments are carried out with a group of 1 to 10 Kheperas and 10 to 40 seeds to be clustered (see fig. 2 as an example using the special extended autonomy tool mentioned above) The seeds have a cylindrical form, with a diameter of 15 mm and a height of 25 mm. We use two square arenas ....

A. Martinoli, E. Franzi, and O. Matthey. Towards a reliable set-up for bio-inspired collective experiments with real robots. In A. Casals and A. T. de Almeida, editors, Proc. of the Fifth International Symposium on Experimental Robotics ISER-97, pages 597--608, Barcelona, Spain, June 1997. Springer Verlag.

....performances. On the contrary, in the experimental results with 4 and 5 robots there is a sublinearity because of the destructive interferences. Finally, fig. 13a shows the experimental results obtained using a special tool developed at our laboratory to extend the autonomy of the Khepera robots [9]. Al7 0 200 400 600 800 1000 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 time [s] 1 robot . 3 robots = 5 robots 0 200 400 600 800 1000 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 time [s] 1 robot . 3 robots = 5 robots a) b) 0 200 400 600 800 1000 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 time [s] ....

A. Martinoli, E. Franzi, and O. Matthey. Towards a reliable set-up for bio-inspired collective experiments with real robots. In Proc. of the Fifth International Symposium on Experimental Robotics ISER97, Barcelona, Spain, June 1997. In Press.

....We can achieve real team solutions only at the price of dealing with the credit assignment problem. Attempts in this direction in simulated environments have been recently published [40, 31] At our laboratory we have conducted experiments with real robots who behave according to local programs [23, 22, 24] and are currently investigating the efficiency of genetic algorithms to adapt team behaviour for certain task boundary conditions. 5.1. SPECIFIC HARDWARE TOOLS FOR AUTONOMOUS COLLECTIVE ROBOTICS In evolutionary or learning single robot experiments, the robot is connected to a workstation ....

A. Martinoli, E. Franzi, and O. Matthey. Towards a reliable set-up for bio-inspired collective experiments with real robots. In Proc. of the Fifth International Symposium on Experimental Robotics ISER-97, Barcelona, Spain, June 1997. In Press.

....in the experimental and simulated results with 4 and 5 robots there is a substantial sublinearity because of the destructive interferences. Finally, Fig. 8a shows the experimental results obtained using a special tool de veloped at our laboratory to extend the autonomy of the Khepera robots (Martinoli et al. 1997). Although a single experiment replicated only three times can not be representative, the figure shows that after 3000 seconds the team fitness becomes saturated due to interferences. In comparison, we have performed the same experiment but longer in simulation. The simulation results are shown in ....

Martinoli, A., E. Franzi and O. Matthey (1997). Towards a reliable set-up for bioinspired collective experiments with real robots. In: Proc. of the Fifth International Symposium on Experimental Robotics ISER-97 (A. Casals, Ed.).

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A. Martinoli, E. Franzi, and O. Matthey. Towards a reliable set-up for bioinspired collective experiments with real robots. In A. Casals and A. de Almeida, editors, Proceedings of the Fifth Symposium on Experimental Robotics ISER-97, pages 597--608. Springer Verlag, 1997.

No context found.

A. Martinoli, E. Franzi, O. Matthey, Towards a reliable set-up for bio-inspired collective experiments with real robots, in: Proceedings of the ISER'97, Barcelona, Spain, 1997.

No context found.

Martinoli, A., Franzi, E., and Matthey, O. (1997) "Towards a Reliable Set-Up for Bio-Inspired Collective Experiments with Real Robots," In Casals, A., and de Almeida, A.T., editors, Proceedings of the Fifth Symposium on Experimental Robotics ISER-97. Springer Verlag. 597-608.

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