3D formation control of swarm robots using mobile agents

Hideaki Yajima, Tadashi Shoji, Ryotaro Oikawa, Munehiro Takimoto, Yasushi Kambayashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we propose a control algorithm to compose a arbitrary three dimensional formations which consists of actual swarm robots. The swarm robots that are composing formations such as specific polyhedrons or spheres coordinate each other by using network communication. Our control algorithm achieves the network communication by mobile software agents. A mobile software agent introduces control programs to each robot that has no initial program. In our formation algorithm, a formation is achieved through moving of a mobile agent called Ant agent to its own location. The movement process results in formation of robots because an Ant agent has to drive a robot in order to reach some specific place. In the process, a mobile agent can exchange a robot to drive through migration to another robot, which enables the agent to move without interference from other robots. This movement property makes formation more efficient, and contributes to formation of shapes filled inside. Also, in our algorithm, each agent does not have to know the absolute coordination of its own location. Instead, it knows the relative coordinates of its neighbor Ant agents, and it attracts them to the coordinates using Pheromone agent. A Pheromone agent repeatedly migrates between robots while adjusting the target coordinate. Once it finds a specific Ant agent to attract, it guides the Ant agent to the target coordinate. The guidance manner attracts neighbors to relative coordinates each other, enabling a shape to be composed without absolute coordinates. Therefore we can compose any formation at any coordinates in a three dimensional space. We have implemented a simulator based on our algorithm and conducted experiments to demonstrate the practical feasibility of our approach.

Original languageEnglish
Title of host publicationKnowledge-Based Software Engineering
Subtitle of host publication2018 - Proceedings of the 12th Joint Conference on Knowledge-Based Software Engineering, JCKBSE 2018
EditorsFumihiro Kumeno, Konstantinos Oikonomou, Maria Virvou
PublisherSpringer Science and Business Media Deutschland GmbH
Pages168-177
Number of pages10
ISBN (Print)9783319976785
DOIs
Publication statusPublished - 1 Jan 2019
Event12th Joint Conference on Knowledge-Based Software Engineering, JCKBSE 2018 - Corfu, Greece
Duration: 27 Aug 201830 Aug 2018

Publication series

NameSmart Innovation, Systems and Technologies
Volume108
ISSN (Print)2190-3018
ISSN (Electronic)2190-3026

Conference

Conference12th Joint Conference on Knowledge-Based Software Engineering, JCKBSE 2018
CountryGreece
CityCorfu
Period27/08/1830/08/18

Fingerprint

Mobile agents
Robots
Software agents
Telecommunication networks
Mobile agent
Robot
Simulators
Ants

Cite this

Yajima, H., Shoji, T., Oikawa, R., Takimoto, M., & Kambayashi, Y. (2019). 3D formation control of swarm robots using mobile agents. In F. Kumeno, K. Oikonomou, & M. Virvou (Eds.), Knowledge-Based Software Engineering: 2018 - Proceedings of the 12th Joint Conference on Knowledge-Based Software Engineering, JCKBSE 2018 (pp. 168-177). (Smart Innovation, Systems and Technologies; Vol. 108). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-319-97679-2_17
Yajima, Hideaki ; Shoji, Tadashi ; Oikawa, Ryotaro ; Takimoto, Munehiro ; Kambayashi, Yasushi. / 3D formation control of swarm robots using mobile agents. Knowledge-Based Software Engineering: 2018 - Proceedings of the 12th Joint Conference on Knowledge-Based Software Engineering, JCKBSE 2018. editor / Fumihiro Kumeno ; Konstantinos Oikonomou ; Maria Virvou. Springer Science and Business Media Deutschland GmbH, 2019. pp. 168-177 (Smart Innovation, Systems and Technologies).
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Yajima, H, Shoji, T, Oikawa, R, Takimoto, M & Kambayashi, Y 2019, 3D formation control of swarm robots using mobile agents. in F Kumeno, K Oikonomou & M Virvou (eds), Knowledge-Based Software Engineering: 2018 - Proceedings of the 12th Joint Conference on Knowledge-Based Software Engineering, JCKBSE 2018. Smart Innovation, Systems and Technologies, vol. 108, Springer Science and Business Media Deutschland GmbH, pp. 168-177, 12th Joint Conference on Knowledge-Based Software Engineering, JCKBSE 2018, Corfu, Greece, 27/08/18. https://doi.org/10.1007/978-3-319-97679-2_17

3D formation control of swarm robots using mobile agents. / Yajima, Hideaki; Shoji, Tadashi; Oikawa, Ryotaro; Takimoto, Munehiro; Kambayashi, Yasushi.

Knowledge-Based Software Engineering: 2018 - Proceedings of the 12th Joint Conference on Knowledge-Based Software Engineering, JCKBSE 2018. ed. / Fumihiro Kumeno; Konstantinos Oikonomou; Maria Virvou. Springer Science and Business Media Deutschland GmbH, 2019. p. 168-177 (Smart Innovation, Systems and Technologies; Vol. 108).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Yajima H, Shoji T, Oikawa R, Takimoto M, Kambayashi Y. 3D formation control of swarm robots using mobile agents. In Kumeno F, Oikonomou K, Virvou M, editors, Knowledge-Based Software Engineering: 2018 - Proceedings of the 12th Joint Conference on Knowledge-Based Software Engineering, JCKBSE 2018. Springer Science and Business Media Deutschland GmbH. 2019. p. 168-177. (Smart Innovation, Systems and Technologies). https://doi.org/10.1007/978-3-319-97679-2_17