Stagnation Recovery Behaviours for Collective Robotics (1994)
| Venue: | In IEEE/RSJ IROS |
| Citations: | 9 - 2 self |
BibTeX
@INPROCEEDINGS{Kube94stagnationrecovery,
author = {C. Ronald Kube and Hong Zhang},
title = {Stagnation Recovery Behaviours for Collective Robotics},
booktitle = {In IEEE/RSJ IROS},
year = {1994},
pages = {1883--1890}
}
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Abstract
Accomplishing useful tasks with a collection of decentralized mobile robots will require control methods that deal effectively with a number of unique problems that impede the system's progress. Reactive control architectures can easily cause the problems of stagnation and cyclic behaviour, both characterized by a lack of progress in achieving a task. In this paper we present one possible solution to stagnation recovery, motivated from the study of group transport in ants and demonstrate its use in a box-pushing task. By using stagnation recovery behaviours, which are triggered by a lack of progress in the task-achieving activity of the system, the collective system can monitor its own advancement in a decentralized manner. A set of such behaviours are progressively ordered using timeouts, with each set designed for a specific recovery strategy. The stagnation recovery behaviours have been tested in simulation with the results to be mapped onto a set of ten autonomous robots presently ...
