Recruitment Near Worksites Facilitates Robustness of Foraging E-Puck Swarms to Global Positioning Noise

Lenka Pitonakova; Alan Winfield; Richard Crowder

doi:10.1109/IROS.2018.8593788

Recruitment Near Worksites Facilitates Robustness of Foraging E-Puck Swarms to Global Positioning Noise

Lenka Pitonakova
, Alan Winfield
, Richard Crowder

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

8 Citations (Scopus)

352 Downloads (Pure)

Abstract

We compare the ability of two different robot controllers for collective foraging to cope with noise in robot global positioning data and show how recruitment, in the form of broadcast messages near worksites, can make swarms more robust. Swarms of five e-puck robots are used in a semi-virtual environment, facilitated by the VICON positioning system. This setup allows us to control the amount of noise in the robot positioning data, as well as to generate pseudo-random environments. The effect of inherent noise in the robot infra-red sensors, used for obstacle avoidance, is also noted and the importance of modeling such noise in agent-based simulations is highlighted.

Original language	English
Title of host publication	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
Subtitle of host publication	Proceedings of a meeting held 1-5 October 2018, Madrid, Spain
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	4276-4281
Number of pages	6
ISBN (Electronic)	9781538680940
ISBN (Print)	9781538680933
DOIs	https://doi.org/10.1109/IROS.2018.8593788
Publication status	Published - Mar 2019

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

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10.1109/IROS.2018.8593788

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T-B PHASE: Prosperity Partnership with Thales
Richards, A. G. (Principal Investigator), Wilson, R. E. (Co-Investigator), Johnson, A. (Collaborator), Bullock, S. (Co-Investigator), Lawry, J. (Co-Investigator), Noyes, J. M. (Co-Investigator), Hauert, S. (Co-Investigator), Bode, N. W. F. (Co-Investigator), Pitonakova, L. (Researcher), Kent, T. (Researcher), Crosscombe, M. (Researcher), Zanatto, D. (Researcher), Alkan, B. (Researcher), Drury, K. L. (Manager), Hogg, E. (Student), Bonnell, W. D. (Student), Bennett, C. (Student), Clarke, C. E. M. (Student), Potts, M. W. (Student), Sartor, P. N. (Collaborator), Harvey, D. (Collaborator), Rayneau-Kirkhope, B. (Collaborator), Galvin, K. (Collaborator), Lam, J. (Collaborator), Barden, E. (Collaborator), Chattington, M. (Collaborator), Radanovic, M. (Researcher), Morey, E. (Student), Ball, M. (Co-Principal Investigator), Hunt, E. R. (Collaborator), Richards, A. G. (Principal Investigator), Radanovic, M. (Researcher), Morey, E. (Student), Steane, V. (Collaborator), Reed Edworthy, J. (Collaborator) & Hart, S. G. (Student)
1/10/17 → 31/03/23
Project: Research

Cite this

Pitonakova, L., Winfield, A., & Crowder, R. (2019). Recruitment Near Worksites Facilitates Robustness of Foraging E-Puck Swarms to Global Positioning Noise. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018): Proceedings of a meeting held 1-5 October 2018, Madrid, Spain (pp. 4276-4281). Article 8593788 (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/IROS.2018.8593788

Pitonakova, Lenka ; Winfield, Alan ; Crowder, Richard. / Recruitment Near Worksites Facilitates Robustness of Foraging E-Puck Swarms to Global Positioning Noise. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018): Proceedings of a meeting held 1-5 October 2018, Madrid, Spain. Institute of Electrical and Electronics Engineers (IEEE), 2019. pp. 4276-4281 (IEEE International Conference on Intelligent Robots and Systems).

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abstract = "We compare the ability of two different robot controllers for collective foraging to cope with noise in robot global positioning data and show how recruitment, in the form of broadcast messages near worksites, can make swarms more robust. Swarms of five e-puck robots are used in a semi-virtual environment, facilitated by the VICON positioning system. This setup allows us to control the amount of noise in the robot positioning data, as well as to generate pseudo-random environments. The effect of inherent noise in the robot infra-red sensors, used for obstacle avoidance, is also noted and the importance of modeling such noise in agent-based simulations is highlighted.",

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language = "English",

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Pitonakova, L, Winfield, A & Crowder, R 2019, Recruitment Near Worksites Facilitates Robustness of Foraging E-Puck Swarms to Global Positioning Noise. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018): Proceedings of a meeting held 1-5 October 2018, Madrid, Spain., 8593788, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers (IEEE), pp. 4276-4281. https://doi.org/10.1109/IROS.2018.8593788

Recruitment Near Worksites Facilitates Robustness of Foraging E-Puck Swarms to Global Positioning Noise. / Pitonakova, Lenka; Winfield, Alan; Crowder, Richard.
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018): Proceedings of a meeting held 1-5 October 2018, Madrid, Spain. Institute of Electrical and Electronics Engineers (IEEE), 2019. p. 4276-4281 8593788 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

TY - GEN

T1 - Recruitment Near Worksites Facilitates Robustness of Foraging E-Puck Swarms to Global Positioning Noise

AU - Pitonakova, Lenka

AU - Winfield, Alan

AU - Crowder, Richard

PY - 2019/3

Y1 - 2019/3

N2 - We compare the ability of two different robot controllers for collective foraging to cope with noise in robot global positioning data and show how recruitment, in the form of broadcast messages near worksites, can make swarms more robust. Swarms of five e-puck robots are used in a semi-virtual environment, facilitated by the VICON positioning system. This setup allows us to control the amount of noise in the robot positioning data, as well as to generate pseudo-random environments. The effect of inherent noise in the robot infra-red sensors, used for obstacle avoidance, is also noted and the importance of modeling such noise in agent-based simulations is highlighted.

AB - We compare the ability of two different robot controllers for collective foraging to cope with noise in robot global positioning data and show how recruitment, in the form of broadcast messages near worksites, can make swarms more robust. Swarms of five e-puck robots are used in a semi-virtual environment, facilitated by the VICON positioning system. This setup allows us to control the amount of noise in the robot positioning data, as well as to generate pseudo-random environments. The effect of inherent noise in the robot infra-red sensors, used for obstacle avoidance, is also noted and the importance of modeling such noise in agent-based simulations is highlighted.

U2 - 10.1109/IROS.2018.8593788

DO - 10.1109/IROS.2018.8593788

M3 - Conference Contribution (Conference Proceeding)

SN - 9781538680933

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 4276

EP - 4281

BT - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)

PB - Institute of Electrical and Electronics Engineers (IEEE)

ER -

Pitonakova L, Winfield A, Crowder R. Recruitment Near Worksites Facilitates Robustness of Foraging E-Puck Swarms to Global Positioning Noise. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018): Proceedings of a meeting held 1-5 October 2018, Madrid, Spain. Institute of Electrical and Electronics Engineers (IEEE). 2019. p. 4276-4281. 8593788. (IEEE International Conference on Intelligent Robots and Systems). Epub 2019 Jan 7. doi: 10.1109/IROS.2018.8593788

Recruitment Near Worksites Facilitates Robustness of Foraging E-Puck Swarms to Global Positioning Noise

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T-B PHASE: Prosperity Partnership with Thales

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