Cooperatively transporting unknown objects using mobile agents

Ryo Takahashi, Munehiro Takimoto, Yasushi Kambayashi

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

2 Citations (Scopus)

Abstract

This paper presents an algorithm for cooperatively transporting objects by multiple robots without any initial knowledge. The robots are connected by communication networks, and the controlling algorithm is based on the pheromone communication of social insects such as ants. Unlike traditional pheromone based cooperative transportation, we have implemented the pheromone as mobile software agents that control the mobile robots corresponding to the ants. The pheromone agent has the vector value pointing to its birth location inside, which is used to guide a robot to the birth location. Since the pheromone agent can diffuse with migrations between robots as well as a physical pheromone, it can attract other robots scattering in a work field to the birth location. Once the robot finds an object, it briefly pushes the object, measuring the degree of the inclination of the object. The robot generates a pheromone agent with the vector value to pusing point suitable for suppressing the inclination of the object. The process of the pushes and generations of pheromone agents enables the efficient transportation of the object. We have implemented a simulator based on our algorithm, and conducted experiments to demonstrate the feasibility of our approach.

Original languageEnglish
Title of host publicationICAART 2014 - Proceedings of the 6th International Conference on Agents and Artificial Intelligence
PublisherSciTePress
Pages60-68
Number of pages9
ISBN (Print)9789897580161
Publication statusPublished - 1 Jan 2014
Event6th International Conference on Agents and Artificial Intelligence, ICAART 2014 - Angers, Loire Valley, France
Duration: 6 Mar 20148 Mar 2014

Publication series

NameICAART 2014 - Proceedings of the 6th International Conference on Agents and Artificial Intelligence
Volume2

Conference

Conference6th International Conference on Agents and Artificial Intelligence, ICAART 2014
CountryFrance
CityAngers, Loire Valley
Period6/03/148/03/14

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Keywords

  • Ant colony optimization
  • Mobile agent
  • Multiple robots
  • Swarm intelligence

Cite this

Takahashi, R., Takimoto, M., & Kambayashi, Y. (2014). Cooperatively transporting unknown objects using mobile agents. In ICAART 2014 - Proceedings of the 6th International Conference on Agents and Artificial Intelligence (pp. 60-68). (ICAART 2014 - Proceedings of the 6th International Conference on Agents and Artificial Intelligence; Vol. 2). SciTePress.