TY - GEN
T1 - Collective Gradient Perception in a Flocking Robot Swarm
AU - Karagüzel, Tugay Alperen
AU - Turgut, Ali Emre
AU - Ferrante, Eliseo
PY - 2020
Y1 - 2020
N2 - Animals can carry their environmental sensing abilities beyond their own limits by using the advantage of being in a group. Some animal groups use this collective ability to migrate or to react to an environmental cue. The environmental cue sometimes consists of a gradient in space, for example represented by food concentration or predators’ odors. In this study, we propose a method for collective gradient perception in a swarm of flocking agents where single individuals are not capable of perceiving the gradient but only sample information locally. The proposed method is tested with multi-agent simulations and compared to standard collective motion methods. It is also evaluated using realistic dynamical models of autonomous aerial robots within the Gazebo simulator. The results suggest that the swarm can move collectively towards specific regions of the environment by following a gradient while solitary agents are incapable of doing it.
AB - Animals can carry their environmental sensing abilities beyond their own limits by using the advantage of being in a group. Some animal groups use this collective ability to migrate or to react to an environmental cue. The environmental cue sometimes consists of a gradient in space, for example represented by food concentration or predators’ odors. In this study, we propose a method for collective gradient perception in a swarm of flocking agents where single individuals are not capable of perceiving the gradient but only sample information locally. The proposed method is tested with multi-agent simulations and compared to standard collective motion methods. It is also evaluated using realistic dynamical models of autonomous aerial robots within the Gazebo simulator. The results suggest that the swarm can move collectively towards specific regions of the environment by following a gradient while solitary agents are incapable of doing it.
UR - http://www.scopus.com/inward/record.url?scp=85096475921&partnerID=8YFLogxK
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U2 - 10.1007/978-3-030-60376-2_23
DO - 10.1007/978-3-030-60376-2_23
M3 - Conference contribution
AN - SCOPUS:85096475921
SN - 9783030603755
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 290
EP - 297
BT - Swarm Intelligence
A2 - Dorigo, Marco
A2 - Stützle, Thomas
A2 - Blesa, Maria J.
A2 - Blum, Christian
A2 - Hamann, Heiko
A2 - Heinrich, Mary Katherine
A2 - Strobel, Volker
PB - Springer Science and Business Media Deutschland GmbH
T2 - 12th International Conference on Swarm Intelligence, ANTS 2020
Y2 - 26 October 2020 through 28 October 2020
ER -