Pub Date : 2017-07-01DOI: 10.1109/ICAR.2017.8023630
Chaoqun Wang, Lili Meng, Teng Li, C. D. Silva, M. Meng
Autonomous exploration is one of the key components for flying robots in 3D active perception. Fast and accurate exploration algorithms are essential for aerial vehicles due to their limited flight endurance. In this paper, we address the problem of exploring the environment and acquiring information using aerial vehicles within limited flight endurance. We propose an information potential field based method for autonomous exploration in 3D environments. In contrast to the existing approaches that only consider either the traveled distances or the information collected during exploration, our method takes into account both the traveled cost and information-gain. The next best view point is chosen based on a multi-objective function which considers information of several candidate regions and the traveled path cost. The selected goal attracts the robot while the known obstacles form the repulsive force to repel the robot. These combined force drives the robot to explore the environment. Different from planners that use all acquired global information, our planner only considers the goal selected and the nearby obstacles, which is more efficient in high-dimensional environments. Furthermore, we present a method to help the robot escape when it falls into a trapped area. The experimental results demonstrate the efficiency and efficacy of our proposed method.
{"title":"Towards autonomous exploration with information potential field in 3D environments","authors":"Chaoqun Wang, Lili Meng, Teng Li, C. D. Silva, M. Meng","doi":"10.1109/ICAR.2017.8023630","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023630","url":null,"abstract":"Autonomous exploration is one of the key components for flying robots in 3D active perception. Fast and accurate exploration algorithms are essential for aerial vehicles due to their limited flight endurance. In this paper, we address the problem of exploring the environment and acquiring information using aerial vehicles within limited flight endurance. We propose an information potential field based method for autonomous exploration in 3D environments. In contrast to the existing approaches that only consider either the traveled distances or the information collected during exploration, our method takes into account both the traveled cost and information-gain. The next best view point is chosen based on a multi-objective function which considers information of several candidate regions and the traveled path cost. The selected goal attracts the robot while the known obstacles form the repulsive force to repel the robot. These combined force drives the robot to explore the environment. Different from planners that use all acquired global information, our planner only considers the goal selected and the nearby obstacles, which is more efficient in high-dimensional environments. Furthermore, we present a method to help the robot escape when it falls into a trapped area. The experimental results demonstrate the efficiency and efficacy of our proposed method.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128882760","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Transleg is a transformable leg-wheel robot conceived to work in the unstructured environment. The steps exist all over this environment, so it is essential that Transleg has the ability to negotiate the steps. The step-climbing performance of Transleg in the wheeled mode is studied in this paper. Transleg owns four leg-wheel and one spine mechanisms, and only the leg-wheel mechanisms are used in the study of this paper. Each leg-wheel is actuated by two actuators. One is for driving the thigh in the legged locomotion and wheel in the wheeled locomotion. The other is for driving the shank in the legged locomotion. For the low steps, Transleg can climb easily, only driving the wheels. To find the height of step Transleg can climb in this way, it is driven to climb the steps with different heights. The results show that Transleg can cross steps whose heights are a little lower than the radius of its wheels 55mm in the wheeled mode. To climb the higher steps, a step-climbing maneuver is designed. In this maneuver, the shanks play an important role. Some simulations are done to verify this maneuver, and the results show that Transleg can negotiate the steps with the height of 94mm which are much higher than the radius of its wheels using this step-climbing maneuver.
{"title":"Step-climbing maneuver for transleg in the wheeled mode","authors":"Zhong Wei, G. Song, Huiyu Sun, Qien Qi, Shengsong Liu, Guifang Qiao","doi":"10.1109/ICAR.2017.8023647","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023647","url":null,"abstract":"Transleg is a transformable leg-wheel robot conceived to work in the unstructured environment. The steps exist all over this environment, so it is essential that Transleg has the ability to negotiate the steps. The step-climbing performance of Transleg in the wheeled mode is studied in this paper. Transleg owns four leg-wheel and one spine mechanisms, and only the leg-wheel mechanisms are used in the study of this paper. Each leg-wheel is actuated by two actuators. One is for driving the thigh in the legged locomotion and wheel in the wheeled locomotion. The other is for driving the shank in the legged locomotion. For the low steps, Transleg can climb easily, only driving the wheels. To find the height of step Transleg can climb in this way, it is driven to climb the steps with different heights. The results show that Transleg can cross steps whose heights are a little lower than the radius of its wheels 55mm in the wheeled mode. To climb the higher steps, a step-climbing maneuver is designed. In this maneuver, the shanks play an important role. Some simulations are done to verify this maneuver, and the results show that Transleg can negotiate the steps with the height of 94mm which are much higher than the radius of its wheels using this step-climbing maneuver.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128700499","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-07-01DOI: 10.1109/ICAR.2017.8023654
Jie Luo, Lei Zhang, H. Zhang
In the process of robotics applications development, Robot Operating System (ROS) has been a defactostandard tool. However, ROS nodes always run at the on-board computer. Limited resources of CPU and storage restrict the ability of robotics when performing a task. A good solution is to transfer the computing-intensive tasks to the Cloud. In view of this, we deploy ROS packages in Cloud virtual machines and encapsulate them as web services. Meanwhile, we design a middleware based on web service technology. As the core of the whole Cloud Robotics system, the middleware is responsible for parsing the Cloud Robotics task request and schedule ROS nodes in a distributed network. Experiments have been performed to validate the reliability of the middleware.
{"title":"Design of a cloud robotics middleware based on web service technology","authors":"Jie Luo, Lei Zhang, H. Zhang","doi":"10.1109/ICAR.2017.8023654","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023654","url":null,"abstract":"In the process of robotics applications development, Robot Operating System (ROS) has been a defactostandard tool. However, ROS nodes always run at the on-board computer. Limited resources of CPU and storage restrict the ability of robotics when performing a task. A good solution is to transfer the computing-intensive tasks to the Cloud. In view of this, we deploy ROS packages in Cloud virtual machines and encapsulate them as web services. Meanwhile, we design a middleware based on web service technology. As the core of the whole Cloud Robotics system, the middleware is responsible for parsing the Cloud Robotics task request and schedule ROS nodes in a distributed network. Experiments have been performed to validate the reliability of the middleware.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128638928","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-07-01DOI: 10.1109/ICAR.2017.8023662
P. Sun, H. Lau
This paper provides a novel feature detection method which utilizes illumination invariant space to achieve a high performance of robustness under the variating lighting conditions. Taking advantage of the dark channel prior knowledge, the proposed method builds three indicators to describe the illumination invariant components in the RGB color space and eliminates the light sensitive parts. The components retained are transformed to the illumination invariant space in which the traditional feature detection methods works more robustly. In contrast to the current transformation method, the method gives a clearer projection from the RGB space to the illumination invariant space which improve the discerning ability of the feature detection methods. The dark channel prior knowledge helps not only the building of more distinguishable indicators, but also the detection of edge features of an object.
{"title":"Dark channel based illumination invariant feature detection","authors":"P. Sun, H. Lau","doi":"10.1109/ICAR.2017.8023662","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023662","url":null,"abstract":"This paper provides a novel feature detection method which utilizes illumination invariant space to achieve a high performance of robustness under the variating lighting conditions. Taking advantage of the dark channel prior knowledge, the proposed method builds three indicators to describe the illumination invariant components in the RGB color space and eliminates the light sensitive parts. The components retained are transformed to the illumination invariant space in which the traditional feature detection methods works more robustly. In contrast to the current transformation method, the method gives a clearer projection from the RGB space to the illumination invariant space which improve the discerning ability of the feature detection methods. The dark channel prior knowledge helps not only the building of more distinguishable indicators, but also the detection of edge features of an object.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124320342","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-07-01DOI: 10.1109/ICAR.2017.8023620
Jihyeong Pyo, Kye-Hyeon Kim
In the recent automation process, the manufacturing automation innovation is being done by using vision technology that can make instant judgement. In this paper, a method of vision based angle estimation is presented. The central moment is calculated and the rotation angle is estimated by the angle with the principal axis. There is also a method of estimating the precision rotation angle using the angle between matching points of SIFT descriptors. We propose a rotation angle estimation method that is invariant to object posture. We used affine transformation for the preprocessing of the image for the invariance to object posture. To estimate the accuracy of the rotation angle, we used blobs which are features in the object area. We conducted the angle estimation accuracy and repeatability tests under the experimental environment which has been constructed in our lab. We obtain less than 0.154 angle estimation accuracy.
{"title":"Precise angle estimation using geometry features for bin picking","authors":"Jihyeong Pyo, Kye-Hyeon Kim","doi":"10.1109/ICAR.2017.8023620","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023620","url":null,"abstract":"In the recent automation process, the manufacturing automation innovation is being done by using vision technology that can make instant judgement. In this paper, a method of vision based angle estimation is presented. The central moment is calculated and the rotation angle is estimated by the angle with the principal axis. There is also a method of estimating the precision rotation angle using the angle between matching points of SIFT descriptors. We propose a rotation angle estimation method that is invariant to object posture. We used affine transformation for the preprocessing of the image for the invariance to object posture. To estimate the accuracy of the rotation angle, we used blobs which are features in the object area. We conducted the angle estimation accuracy and repeatability tests under the experimental environment which has been constructed in our lab. We obtain less than 0.154 angle estimation accuracy.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131111603","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-07-01DOI: 10.1109/ICAR.2017.8023645
Y. Chan, Z. Tse, Hongliang Ren
Kirigami-inspired hand exoskeletal system for rehabilitation has not been fully utilized in the field of biomedical engineering. This paper aims to validate that kirigami-inspired hand exoskeletal system can be a potential in rehabilitation process for stroke patients. A prototype was create to validate this problem and experiments were conducted and analysed. The results of the experiment has shown that the origami/kirigami-inspired hand exoskeletal system has the potential to be used in rehabilitation process through limited clenching and also have potentials in utilizing this design in other fields of application.
{"title":"Design evolution and pilot study for a kirigami-inspired flexible and soft anthropomorphic robotic hand","authors":"Y. Chan, Z. Tse, Hongliang Ren","doi":"10.1109/ICAR.2017.8023645","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023645","url":null,"abstract":"Kirigami-inspired hand exoskeletal system for rehabilitation has not been fully utilized in the field of biomedical engineering. This paper aims to validate that kirigami-inspired hand exoskeletal system can be a potential in rehabilitation process for stroke patients. A prototype was create to validate this problem and experiments were conducted and analysed. The results of the experiment has shown that the origami/kirigami-inspired hand exoskeletal system has the potential to be used in rehabilitation process through limited clenching and also have potentials in utilizing this design in other fields of application.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"712 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131848917","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-07-01DOI: 10.1109/ICAR.2017.8023636
P. Xu, Bing Li, C. Chueng
This paper presents a novel hybrid polishing machine based on the precession polishing process. The machine mainly contains a two degrees of freedom (DOF) serial robot and a three DOF parallel robot with a redundant rotational table on the moving platform. Due to the complex structure and the coupled motion of the parallel robot, dynamics analysis of the parallel robot with three translational DOF (linear Delta robot) is conducted aiming at facilitating the development of hybrid polishing machine. The position, velocity and acceleration analysis of the parallel robot are conducted. By introducing a mass distribution factor, a simplified dynamic model of the parallel robot is developed based on the principle of virtual work. For a pre-defined path of the moving platform, the required force for the driving motors are obtained through numerical simulation. The simulation results are further compared with an ADAMS model, hence justifies its correctness.
{"title":"Dynamic analysis of a linear Delta robot in hybrid polishing machine based on the principle of virtual work","authors":"P. Xu, Bing Li, C. Chueng","doi":"10.1109/ICAR.2017.8023636","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023636","url":null,"abstract":"This paper presents a novel hybrid polishing machine based on the precession polishing process. The machine mainly contains a two degrees of freedom (DOF) serial robot and a three DOF parallel robot with a redundant rotational table on the moving platform. Due to the complex structure and the coupled motion of the parallel robot, dynamics analysis of the parallel robot with three translational DOF (linear Delta robot) is conducted aiming at facilitating the development of hybrid polishing machine. The position, velocity and acceleration analysis of the parallel robot are conducted. By introducing a mass distribution factor, a simplified dynamic model of the parallel robot is developed based on the principle of virtual work. For a pre-defined path of the moving platform, the required force for the driving motors are obtained through numerical simulation. The simulation results are further compared with an ADAMS model, hence justifies its correctness.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"341 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132031417","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-07-01DOI: 10.1109/ICAR.2017.8023523
Timotej Gaspar, Barry Ridge, Robert Bevec, Martin Bem, I. Kovac, A. Ude, Ž. Gosar
In an increasingly competitive manufacturing industry it is becoming ever more important to rapidly react to changes in market demands. In order to satisfy these requirements, it is crucial that automated manufacturing processes are flexible and can be adapted to new production requirements quickly. In this paper we present a novel automatically reconfigurable robot workcell that addresses the issues of flexible manufacturing. The proposed workcell is reconfigurable in terms of hardware and software. The hardware elements of the workcell, both those selected off-the-shelf and those developed specifically for the system, allow for fast cell setup and reconfiguration, while the software aims to provide a modular, robot-independent, ROS-based programming environment. While the proposed workcell is being developed in such a way as to address the needs of production-oriented SMEs where batch sizes are relatively small, it will also be of interest to enterprises with larger production lines since it additionally targets high performance in terms of speed, interoperability of robotic elements, and ease of use.
{"title":"Rapid hardware and software reconfiguration in a robotic workcell","authors":"Timotej Gaspar, Barry Ridge, Robert Bevec, Martin Bem, I. Kovac, A. Ude, Ž. Gosar","doi":"10.1109/ICAR.2017.8023523","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023523","url":null,"abstract":"In an increasingly competitive manufacturing industry it is becoming ever more important to rapidly react to changes in market demands. In order to satisfy these requirements, it is crucial that automated manufacturing processes are flexible and can be adapted to new production requirements quickly. In this paper we present a novel automatically reconfigurable robot workcell that addresses the issues of flexible manufacturing. The proposed workcell is reconfigurable in terms of hardware and software. The hardware elements of the workcell, both those selected off-the-shelf and those developed specifically for the system, allow for fast cell setup and reconfiguration, while the software aims to provide a modular, robot-independent, ROS-based programming environment. While the proposed workcell is being developed in such a way as to address the needs of production-oriented SMEs where batch sizes are relatively small, it will also be of interest to enterprises with larger production lines since it additionally targets high performance in terms of speed, interoperability of robotic elements, and ease of use.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130068156","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-07-01DOI: 10.1109/ICAR.2017.8023675
A. Saleh, Nashwa Abdelbaki
Robots nowadays, are introduced to many domains and fields. One of these fields is education. We introduce integrating robots and games in education. We have designed a humanoid robot tutoring biology. Our robot is interacting with a student to play a game to enhance and examine the student's knowledge. In our game, we developed cognitive capabilities for the robot. We analyzed the features that both the robot and the game have to possess, and we developed a system for organ detection and recognition with the highest possible accuracy and lowest processing time. Our game introduces a multi-theme education rather than the nowadays existing subject oriented learning. Multi-theme learning, in our opinion, helps students digest different subjects and sciences concurrently and prepares them for problem solving environments having multiple inputs and considerations.
{"title":"Innovative human-robot interaction for a robot tutor in biology game","authors":"A. Saleh, Nashwa Abdelbaki","doi":"10.1109/ICAR.2017.8023675","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023675","url":null,"abstract":"Robots nowadays, are introduced to many domains and fields. One of these fields is education. We introduce integrating robots and games in education. We have designed a humanoid robot tutoring biology. Our robot is interacting with a student to play a game to enhance and examine the student's knowledge. In our game, we developed cognitive capabilities for the robot. We analyzed the features that both the robot and the game have to possess, and we developed a system for organ detection and recognition with the highest possible accuracy and lowest processing time. Our game introduces a multi-theme education rather than the nowadays existing subject oriented learning. Multi-theme learning, in our opinion, helps students digest different subjects and sciences concurrently and prepares them for problem solving environments having multiple inputs and considerations.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130971480","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-07-01DOI: 10.1109/ICAR.2017.8023527
Bao Pang, Cheng-jin Zhang, Yong Song, Hongling Wang
Social insects can flexibly respond to variational environment without global information and centralized control, and inspired by the collective behavior in ants and bees, this paper proposes a dynamical response threshold model (DRTM) in which the robots perform task allocation in self-organized manner. The proposed method depends on neither the global information nor the communication between robots. Using this method, the individual robot considers the amount of food in nest as stimulus and can compute the threshold dynamically according to monitoring the number of resting robots as well as counting the times of obstacle avoidance in the last foraging task. Taking advantage of stimulus and threshold, the robots automatically decide whether to forage on the basis of foraging probability. Simulation experiments are carried out with the aim of studying the effectiveness of the proposed model and evaluating the performance of task allocation in foraging scenarios. The experimental results presented in this paper prove that DRTM can achieve an efficient task allocation and possess better self-organized feature compared with the existing fixed response threshold model (FRTM).
{"title":"Self-organized task allocation in swarm robotics foraging based on dynamical response threshold approach","authors":"Bao Pang, Cheng-jin Zhang, Yong Song, Hongling Wang","doi":"10.1109/ICAR.2017.8023527","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023527","url":null,"abstract":"Social insects can flexibly respond to variational environment without global information and centralized control, and inspired by the collective behavior in ants and bees, this paper proposes a dynamical response threshold model (DRTM) in which the robots perform task allocation in self-organized manner. The proposed method depends on neither the global information nor the communication between robots. Using this method, the individual robot considers the amount of food in nest as stimulus and can compute the threshold dynamically according to monitoring the number of resting robots as well as counting the times of obstacle avoidance in the last foraging task. Taking advantage of stimulus and threshold, the robots automatically decide whether to forage on the basis of foraging probability. Simulation experiments are carried out with the aim of studying the effectiveness of the proposed model and evaluating the performance of task allocation in foraging scenarios. The experimental results presented in this paper prove that DRTM can achieve an efficient task allocation and possess better self-organized feature compared with the existing fixed response threshold model (FRTM).","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132796551","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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