Pub Date : 2014-12-01DOI: 10.1109/ROBIO.2014.7090679
Jing Xia, Zainan Jiang, Hong Liu, H. Cai
This paper describes a redundant resolution method for 7-DOF anthropomorphic manipulator with joint limits, which considers the optimization of human-like motion and the optimization of the maximum reachable region of the manipulator's tip. First, a novel method for computing the set of feasible arm angle under joint limits is presented. Second, a relation describing the movement characteristics of human arm is introduced to determine human-like arm configuration. Last to obtain the maximum movable range of manipulator, how to apply the set of feasible arm angles along the given trajectory is investigated through an example to handle the unfeasible optimal arm angle heuristically. A kinematic simulation demonstrates the validity of the proposed redundant resolution method.
{"title":"Analytical inverse kinematic computation for anthropomorphic manipulator based on human-like motion optimization and maximum reachable region optimization","authors":"Jing Xia, Zainan Jiang, Hong Liu, H. Cai","doi":"10.1109/ROBIO.2014.7090679","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090679","url":null,"abstract":"This paper describes a redundant resolution method for 7-DOF anthropomorphic manipulator with joint limits, which considers the optimization of human-like motion and the optimization of the maximum reachable region of the manipulator's tip. First, a novel method for computing the set of feasible arm angle under joint limits is presented. Second, a relation describing the movement characteristics of human arm is introduced to determine human-like arm configuration. Last to obtain the maximum movable range of manipulator, how to apply the set of feasible arm angles along the given trajectory is investigated through an example to handle the unfeasible optimal arm angle heuristically. A kinematic simulation demonstrates the validity of the proposed redundant resolution method.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131818336","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 : 2014-12-01DOI: 10.1109/ROBIO.2014.7090321
T. Zou, F. Ni, Chuangqiang Guo, Weisi Ma, Hong Liu
Manipulators with flexible joints are widely used as the space manipulators, whereas the elasticity of flexible joint leads to poor dynamic performance. To solve the influence of elasticity, the paper is to establish the model of flexible joint, identify the parameters, and design the controller. The off-line methods are applied to identify the current coefficient and the parameters of flexible joint model. The controller is designed based on the theory of state feedback and pole assignment. To make the calculation of controller gains easier, more precise and more intuitive, the nominal stiffness is introduced. The simulation results and the experimental results indicate that the proposed controller can improve the dynamic performance and reduce the vibration of the manipulator compared with the traditional PD controller.
{"title":"Parameter identification and controller design for flexible joint of Chinese space manipulator","authors":"T. Zou, F. Ni, Chuangqiang Guo, Weisi Ma, Hong Liu","doi":"10.1109/ROBIO.2014.7090321","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090321","url":null,"abstract":"Manipulators with flexible joints are widely used as the space manipulators, whereas the elasticity of flexible joint leads to poor dynamic performance. To solve the influence of elasticity, the paper is to establish the model of flexible joint, identify the parameters, and design the controller. The off-line methods are applied to identify the current coefficient and the parameters of flexible joint model. The controller is designed based on the theory of state feedback and pole assignment. To make the calculation of controller gains easier, more precise and more intuitive, the nominal stiffness is introduced. The simulation results and the experimental results indicate that the proposed controller can improve the dynamic performance and reduce the vibration of the manipulator compared with the traditional PD controller.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"236 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132274812","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 : 2014-12-01DOI: 10.1109/ROBIO.2014.7090627
Shun Akamatsu, Naohiro Shimaji, T. Tomizawa
The purpose of the present study is to develop a person counting system using a 3D laser scanner. The system consists of a person-detection component, a tracking component, and a counting component. The person-detection component detects human bodies as a point cloud, even if a number of people are close to each other. To achieve this, we use a method of grouping the point cloud towards the bottom from the top. The tracking component tracks the detected person using a Kalman filter. The counting component counts the number of people who enter and exit a structure. Experimental results obtained in the present study reveal that the proposed system can recognize individual pedestrians and count the number of people passing through crowded outdoor environments.
{"title":"Development of a person counting system using a 3D laser scanner","authors":"Shun Akamatsu, Naohiro Shimaji, T. Tomizawa","doi":"10.1109/ROBIO.2014.7090627","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090627","url":null,"abstract":"The purpose of the present study is to develop a person counting system using a 3D laser scanner. The system consists of a person-detection component, a tracking component, and a counting component. The person-detection component detects human bodies as a point cloud, even if a number of people are close to each other. To achieve this, we use a method of grouping the point cloud towards the bottom from the top. The tracking component tracks the detected person using a Kalman filter. The counting component counts the number of people who enter and exit a structure. Experimental results obtained in the present study reveal that the proposed system can recognize individual pedestrians and count the number of people passing through crowded outdoor environments.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134429000","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 : 2014-12-01DOI: 10.1109/ROBIO.2014.7090494
Lianhang Dou, Min Li, Y. Li, Qing-Ying Zhao, Jie Li, Zhongya Wang
This paper presents a path planning and collision avoidance method based on artificial bee colony (ABC) optimization algorithm for multi-robot systems. Standard ABC algorithm can find a proper way for the robots quickly, but it still has shortcomings. An improved artificial bee colony optimization algorithm (IABC) is proposed to plan a reasonable collision-free path for each robot of a multi-robot system in complicated environment. Based on standard ABC algorithm, a new objective function is derived for global planning of each robot's path. The initialization strategy and fitness function are also optimized to improve the performance of IABC algorithm. Compared with standard ABC algorithm, IABC algorithm simplifies the parameter setting and achieves better performance. The feasibility and availability of the proposed IABC algorithm have been verified by simulation results.
{"title":"A novel artificial bee colony optimization algorithm for global path planning of multi-robot systems","authors":"Lianhang Dou, Min Li, Y. Li, Qing-Ying Zhao, Jie Li, Zhongya Wang","doi":"10.1109/ROBIO.2014.7090494","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090494","url":null,"abstract":"This paper presents a path planning and collision avoidance method based on artificial bee colony (ABC) optimization algorithm for multi-robot systems. Standard ABC algorithm can find a proper way for the robots quickly, but it still has shortcomings. An improved artificial bee colony optimization algorithm (IABC) is proposed to plan a reasonable collision-free path for each robot of a multi-robot system in complicated environment. Based on standard ABC algorithm, a new objective function is derived for global planning of each robot's path. The initialization strategy and fitness function are also optimized to improve the performance of IABC algorithm. Compared with standard ABC algorithm, IABC algorithm simplifies the parameter setting and achieves better performance. The feasibility and availability of the proposed IABC algorithm have been verified by simulation results.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133789487","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 : 2014-12-01DOI: 10.1109/ROBIO.2014.7090414
L. Wang, Chunbao Wang, L. Duan, Ai Niibori, Yusaku Miura, Yurina Sugamiya, W. Kong, Q. Shi, H. Ishii, S. Sessa, M. Zecca, A. Takanishi, Zhengzhi Wu, J. Qin, Weiguang Li
Cranial nerve examination takes an important role in the physical examination. All the medical staffs need to be trained to master the skills for examination. By now, several training methods have been carried out for medical training including training with the simulated patient (SP). However, considering the characters of eyeball, the involuntary actions cannot be simulated by Sp. With the developments of technology, more and more robot heads have been launched. However, these simulators only focus on mimicking the healthy human abilities, not simulating disorders for medical training. In this paper, we propose a novel eyeball motion nerve model which is used in the head robot named WKH-2(Waseda Kyotokagaku Head Robot No.2). This robot is designed to simulate the disorders of eyeball movements to give the trainee a full training on cranial examination. The motor nerve model is carried out from mimicking the real eyeball nerve structure. And the functions of each part are designed from analysis of the real functions of each organ. In this robot, the effects of eyeball motion nerve system, and various symptoms are simulated. Making use of this robot, a systematic training on the skills as well as the understanding of medical knowledge is provided. Finally, several experiments are carried out to verify our proposed system. The experimental results show that the approach is worth following in further research.
脑神经检查在体格检查中占有重要地位。所有的医务人员都需要接受培训，掌握考试的技能。到目前为止，已经开展了几种医学培训方法，包括与模拟患者(SP)的培训。但是由于眼球的特性，这种无意识的动作是Sp无法模拟的。随着技术的发展，越来越多的机器人头被推出。然而，这些模拟器只专注于模仿健康人的能力，而不是模拟医学训练的疾病。本文提出了一种新的眼球运动神经模型，并应用于头部机器人WKH-2(Waseda Kyotokagaku head robot No.2)。这个机器人是为了模拟眼球运动的紊乱，给受训者一个完整的颅脑检查训练。运动神经模型是在模拟真实眼球神经结构的基础上建立的。通过对各器官实际功能的分析，设计了各部分的功能。在这个机器人中，模拟了眼球运动神经系统的影响，以及各种症状。利用该机器人进行系统的技能训练和对医学知识的理解。最后，通过实验验证了系统的有效性。实验结果表明，该方法值得进一步研究。
{"title":"Development of a nerve model of eyeball motion nerves to simulate the disorders of eyeball movements for neurologic examination training","authors":"L. Wang, Chunbao Wang, L. Duan, Ai Niibori, Yusaku Miura, Yurina Sugamiya, W. Kong, Q. Shi, H. Ishii, S. Sessa, M. Zecca, A. Takanishi, Zhengzhi Wu, J. Qin, Weiguang Li","doi":"10.1109/ROBIO.2014.7090414","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090414","url":null,"abstract":"Cranial nerve examination takes an important role in the physical examination. All the medical staffs need to be trained to master the skills for examination. By now, several training methods have been carried out for medical training including training with the simulated patient (SP). However, considering the characters of eyeball, the involuntary actions cannot be simulated by Sp. With the developments of technology, more and more robot heads have been launched. However, these simulators only focus on mimicking the healthy human abilities, not simulating disorders for medical training. In this paper, we propose a novel eyeball motion nerve model which is used in the head robot named WKH-2(Waseda Kyotokagaku Head Robot No.2). This robot is designed to simulate the disorders of eyeball movements to give the trainee a full training on cranial examination. The motor nerve model is carried out from mimicking the real eyeball nerve structure. And the functions of each part are designed from analysis of the real functions of each organ. In this robot, the effects of eyeball motion nerve system, and various symptoms are simulated. Making use of this robot, a systematic training on the skills as well as the understanding of medical knowledge is provided. Finally, several experiments are carried out to verify our proposed system. The experimental results show that the approach is worth following in further research.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122128197","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 : 2014-12-01DOI: 10.1109/ROBIO.2014.7090699
Elisa C. M. Pereira, Danilo Alves de Lima, A. Victorino
This paper proposes a global navigation strategy for autonomous vehicle combining sensor based control and digital maps information. In order to avoid localization problems in urban environments, this approach intends to solve the global navigation focusing on two local navigation tasks: road lane following and road intersection maneuvers. For that, it is important to use digital maps, once they provide a rich database containing information about the environment structure, like speed limit, number of lanes, traffic directions, etc. Associating the data extracted from the digital map with local navigation approaches, the vehicle is able to perform its global navigation task. The experiments take into account real data and a simulated scenario, which show the viability of this approach.
{"title":"Autonomous vehicle global navigation approach associating sensor based control and digital maps","authors":"Elisa C. M. Pereira, Danilo Alves de Lima, A. Victorino","doi":"10.1109/ROBIO.2014.7090699","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090699","url":null,"abstract":"This paper proposes a global navigation strategy for autonomous vehicle combining sensor based control and digital maps information. In order to avoid localization problems in urban environments, this approach intends to solve the global navigation focusing on two local navigation tasks: road lane following and road intersection maneuvers. For that, it is important to use digital maps, once they provide a rich database containing information about the environment structure, like speed limit, number of lanes, traffic directions, etc. Associating the data extracted from the digital map with local navigation approaches, the vehicle is able to perform its global navigation task. The experiments take into account real data and a simulated scenario, which show the viability of this approach.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124444114","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 : 2014-12-01DOI: 10.1109/ROBIO.2014.7090622
Jianlan Luo, Zhewen Tian, Jintao Yang
Two-wheeled balancing robots have been widely used for research and market purposes. This paper focuses on the control of such a robot to maximize its velocity when following certain paths. Dynamic model is constructed based on Lagrange equation; an efficient but low CPU-cost complementary filter is proposed to realize the accurate estimation of robot's posture; three independent PID controllers are employed to achieve separate control tasks and then unified under a proposed global control scheme. Experiment results show that this robot could run at the speed of 2.2 m/s with rejecting disturbances.
{"title":"On the control of a two-wheeled balancing path-following robot","authors":"Jianlan Luo, Zhewen Tian, Jintao Yang","doi":"10.1109/ROBIO.2014.7090622","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090622","url":null,"abstract":"Two-wheeled balancing robots have been widely used for research and market purposes. This paper focuses on the control of such a robot to maximize its velocity when following certain paths. Dynamic model is constructed based on Lagrange equation; an efficient but low CPU-cost complementary filter is proposed to realize the accurate estimation of robot's posture; three independent PID controllers are employed to achieve separate control tasks and then unified under a proposed global control scheme. Experiment results show that this robot could run at the speed of 2.2 m/s with rejecting disturbances.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134165532","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 : 2014-12-01DOI: 10.1109/ROBIO.2014.7090677
Hong Liu, Qiaoduo Zhang, Qianru Sun
Recently, approaches utilizing spatial-temporal features have achieved great success in human action classification. However, they typically rely on bag-of-words (BoWs) model, and ignore the spatial and temporal structure information of visual words, bringing ambiguities among similar actions. In this paper, we present a novel approach called sequential BoWs for efficient human action classification. It captures temporal sequential structure by segmenting the entire action into sub-actions. Each sub-action has a tiny movement within a narrow range of action. Then the sequential BoWs are created, in which each sub-action is assigned with a certain weight and salience to highlight the distinguishing sections. It is noted that the weight and salience are figured out in advance according to the sub-action's discrimination evaluated by training data. Finally, those sub-actions are used for classification respectively, and voting for united result. Experiments are conducted on UT-interaction dataset and Rochester dataset. The results show its higher robustness and accuracy over most state-of-the-art classification approaches.
{"title":"Human action classification based on sequential bag-of-words model","authors":"Hong Liu, Qiaoduo Zhang, Qianru Sun","doi":"10.1109/ROBIO.2014.7090677","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090677","url":null,"abstract":"Recently, approaches utilizing spatial-temporal features have achieved great success in human action classification. However, they typically rely on bag-of-words (BoWs) model, and ignore the spatial and temporal structure information of visual words, bringing ambiguities among similar actions. In this paper, we present a novel approach called sequential BoWs for efficient human action classification. It captures temporal sequential structure by segmenting the entire action into sub-actions. Each sub-action has a tiny movement within a narrow range of action. Then the sequential BoWs are created, in which each sub-action is assigned with a certain weight and salience to highlight the distinguishing sections. It is noted that the weight and salience are figured out in advance according to the sub-action's discrimination evaluated by training data. Finally, those sub-actions are used for classification respectively, and voting for united result. Experiments are conducted on UT-interaction dataset and Rochester dataset. The results show its higher robustness and accuracy over most state-of-the-art classification approaches.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133288936","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 : 2014-12-01DOI: 10.1109/ROBIO.2014.7090581
Wafaa Hadjadj-Aoul, A. Mokhtari, A. Benallegue
A hierarchical controller design based on nonlinear optimal theory and backstepping technique is developed. This control law which stabilizes globally the attitude of the system for all the equilibrium points, is parameterized by quaternions. First, for the kinematic subsystem, we design a virtual optimal angular velocity. To obtain the global minimum of the performance index, this optimal angular velocity is only discontinuous in initial values. It can be regarded as a combination of open loop control and closed loop control. Then for the dynamic subsystem, we design a optimal control that can force the angular velocity to track the virtual optimal angular velocity. Thus, we design a control that is more natural and efficient use of energy, fact that states converge to the nearest equilibrium. The effectiveness of the proposed method is demonstrated by simulation results.
{"title":"Asymptotic stabilization of quadrotor helicopter's attitude using an optimal hierarchical control technique","authors":"Wafaa Hadjadj-Aoul, A. Mokhtari, A. Benallegue","doi":"10.1109/ROBIO.2014.7090581","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090581","url":null,"abstract":"A hierarchical controller design based on nonlinear optimal theory and backstepping technique is developed. This control law which stabilizes globally the attitude of the system for all the equilibrium points, is parameterized by quaternions. First, for the kinematic subsystem, we design a virtual optimal angular velocity. To obtain the global minimum of the performance index, this optimal angular velocity is only discontinuous in initial values. It can be regarded as a combination of open loop control and closed loop control. Then for the dynamic subsystem, we design a optimal control that can force the angular velocity to track the virtual optimal angular velocity. Thus, we design a control that is more natural and efficient use of energy, fact that states converge to the nearest equilibrium. The effectiveness of the proposed method is demonstrated by simulation results.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133944843","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 : 2014-12-01DOI: 10.1109/ROBIO.2014.7090495
Nishant Sharma, Parikshit Maini, P. Sujit
Foraging is the process of collecting food from the environment. Several food sources may be available in the environment with different properties like food nutrition, distance from the nest, predator risk, etc. A forager must collect food from source at any point in time. Forager may not always select a food source with the highest food quality as the associated risk due to predators may be high. On the other hand, the food source with poor quality may not be sufficient for community growth. Thus, foragers need to perform tradeoffs between predation risk and food intake depending on the food source properties and forager requirements. This behavior is common in several species like ants, squirrels, etc. In this paper, we apply the trade-off mechanisms observed in nature to multi-robot systems. Multiple robots can be used in several information/object foraging applications. The robots can autonomously make decisions using the trade-off information to select a foraging patch that satisfies the desired information/object collection goal and maximizes their safety. We propose a cost-reward model for robots that takes foraging history of the agent and the current food quantity at the nest to compute the modalities of a trade-off. The model is validated through simulations on ROS.
{"title":"A multi-robot foraging model on deciding predation risk vs. food quality trade-offs","authors":"Nishant Sharma, Parikshit Maini, P. Sujit","doi":"10.1109/ROBIO.2014.7090495","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090495","url":null,"abstract":"Foraging is the process of collecting food from the environment. Several food sources may be available in the environment with different properties like food nutrition, distance from the nest, predator risk, etc. A forager must collect food from source at any point in time. Forager may not always select a food source with the highest food quality as the associated risk due to predators may be high. On the other hand, the food source with poor quality may not be sufficient for community growth. Thus, foragers need to perform tradeoffs between predation risk and food intake depending on the food source properties and forager requirements. This behavior is common in several species like ants, squirrels, etc. In this paper, we apply the trade-off mechanisms observed in nature to multi-robot systems. Multiple robots can be used in several information/object foraging applications. The robots can autonomously make decisions using the trade-off information to select a foraging patch that satisfies the desired information/object collection goal and maximizes their safety. We propose a cost-reward model for robots that takes foraging history of the agent and the current food quantity at the nest to compute the modalities of a trade-off. The model is validated through simulations on ROS.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133407307","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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