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Composing Swarm Robot Formations Based on Their Distributions Using Mobile Agents

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Book cover Multi-Agent Systems and Agreement Technologies (EUMAS 2015, AT 2015)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9571))

Abstract

This paper presents a control algorithm for composing formations of swarm robots. The composed formations represent specific symbols. The algorithm is based on our mobile software agent based control model where robots acquire any control program as necessary. The robots start working with just generic control programs and they acquire control programs for specific tasks from outside as mobile software agents. Since the mobile software agents can migrate from one robot to another autonomously, they can migrate to the most conveniently located robot for a specific task. This control model eliminates unnecessary movements of physical robots, contributing to suppressing the total costs of any multi-robot systems. Our control algorithm for composing formations takes the advantages of this mobile agent model. We have implemented our algorithm in a simulator and conducted experiments to demonstrate the feasibility of our approach.

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Acknowledgments

This work is supported in part by Japan Society for Promotion of Science (JSPS), with the basic research program (C) (No. 26350456), Grant-in-Aid for Scientific Research.

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Authors and Affiliations

  1. Department of Information Sciences, Tokyo University of Science, 2641 Yamazaki, Noda, 278-8510, Japan

    Ryotaro Oikawa & Munehiro Takimoto

  2. Department of Computer and Information Engineering, Nippon Institute of Technology, 4-1 Gakuendai, Miyashiro-machi, Minamisaitama-gun, 345-8501, Japan

    Yasushi Kambayashi

Authors
  1. Ryotaro Oikawa
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  2. Munehiro Takimoto
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  3. Yasushi Kambayashi
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Corresponding author

Correspondence to Ryotaro Oikawa .

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Editors and Affiliations

  1. University of Edinburgh, Edinburgh, United Kingdom

    Michael Rovatsos

  2. Department of Digital Systems, University of Piraeus, Piraeus, Greece

    George Vouros

  3. Technical University of Valencia, Valencia, Spain

    Vicente Julian

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Oikawa, R., Takimoto, M., Kambayashi, Y. (2016). Composing Swarm Robot Formations Based on Their Distributions Using Mobile Agents. In: Rovatsos, M., Vouros, G., Julian, V. (eds) Multi-Agent Systems and Agreement Technologies. EUMAS AT 2015 2015. Lecture Notes in Computer Science(), vol 9571. Springer, Cham. https://doi.org/10.1007/978-3-319-33509-4_9

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  • DOI: https://doi.org/10.1007/978-3-319-33509-4_9

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-33508-7

  • Online ISBN: 978-3-319-33509-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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