A distributed approach to the control of multi-robot systems using XP colonies.
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| Title: | A distributed approach to the control of multi-robot systems using XP colonies. |
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| Authors: | Florea, Andrei George1 andrei.florea@acse.pub.ro., Buiu, Cătălin1 |
| Source: | Integrated Computer-Aided Engineering. 2018, Vol. 25 Issue 1, p15-29. 15p. |
| Subjects: | Extreme programming, Robot control systems, Artificial membranes, Molecular computers, Finite state machines |
| Abstract: | This paper proposes and demonstrates the viability of a novel approach to control multi-robot systems. This approach is based on computing with membranes (P systems) that is a branch of molecular computing inspired by the structure and function of biological cells. There are many variants to the original P system model that have been introduced and theoretically studied over the last two decades. Most of them were proved to be computationally universal. Many applications for P systems have been proposed including the recent use of numerical P systems to control a single robot. This paper makes several contributions to the area of P systems applied to robot control. First, it approaches the problem of controlling multi-robot systems containing dozens of robots with very limited capabilities. Second, it proposes the use of a symbolic approach based on XP colonies. Third, this paper presents a detailed comparison of the proposed solution to a standard one based on finite state machines, which highlights the advantages and disadvantages of the proposed solution. Finally, in addition to using physically realistic simulations, this paper demonstrates the feasibility of the proposed approach on real robots. The source code is available from an online repository, which makes all the experiments fully reproducible. Online demonstration videos illustrate all of the experiments. [ABSTRACT FROM AUTHOR] |
| Copyright of Integrated Computer-Aided Engineering is the property of Sage Publications Inc. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
| FullText | Links: – Type: pdflink Text: Availability: 0 |
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| Header | DbId: egs DbLabel: Engineering Source An: 126798868 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: A distributed approach to the control of multi-robot systems using XP colonies. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Florea%2C+Andrei+George%22">Florea, Andrei George</searchLink><relatesTo>1</relatesTo><i> andrei.florea@acse.pub.ro.</i><br /><searchLink fieldCode="AR" term="%22Buiu%2C+Cătălin%22">Buiu, Cătălin</searchLink><relatesTo>1</relatesTo> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22Integrated+Computer-Aided+Engineering%22">Integrated Computer-Aided Engineering</searchLink>. 2018, Vol. 25 Issue 1, p15-29. 15p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Extreme+programming%22">Extreme programming</searchLink><br /><searchLink fieldCode="DE" term="%22Robot+control+systems%22">Robot control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Artificial+membranes%22">Artificial membranes</searchLink><br /><searchLink fieldCode="DE" term="%22Molecular+computers%22">Molecular computers</searchLink><br /><searchLink fieldCode="DE" term="%22Finite+state+machines%22">Finite state machines</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: This paper proposes and demonstrates the viability of a novel approach to control multi-robot systems. This approach is based on computing with membranes (P systems) that is a branch of molecular computing inspired by the structure and function of biological cells. There are many variants to the original P system model that have been introduced and theoretically studied over the last two decades. Most of them were proved to be computationally universal. Many applications for P systems have been proposed including the recent use of numerical P systems to control a single robot. This paper makes several contributions to the area of P systems applied to robot control. First, it approaches the problem of controlling multi-robot systems containing dozens of robots with very limited capabilities. Second, it proposes the use of a symbolic approach based on XP colonies. Third, this paper presents a detailed comparison of the proposed solution to a standard one based on finite state machines, which highlights the advantages and disadvantages of the proposed solution. Finally, in addition to using physically realistic simulations, this paper demonstrates the feasibility of the proposed approach on real robots. The source code is available from an online repository, which makes all the experiments fully reproducible. Online demonstration videos illustrate all of the experiments. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of Integrated Computer-Aided Engineering is the property of Sage Publications Inc. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.3233/ICA-170554 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 15 StartPage: 15 Subjects: – SubjectFull: Extreme programming Type: general – SubjectFull: Robot control systems Type: general – SubjectFull: Artificial membranes Type: general – SubjectFull: Molecular computers Type: general – SubjectFull: Finite state machines Type: general Titles: – TitleFull: A distributed approach to the control of multi-robot systems using XP colonies. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Florea, Andrei George – PersonEntity: Name: NameFull: Buiu, Cătălin IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 03 Text: 2018 Type: published Y: 2018 Identifiers: – Type: issn-print Value: 10692509 Numbering: – Type: volume Value: 25 – Type: issue Value: 1 Titles: – TitleFull: Integrated Computer-Aided Engineering Type: main |
| ResultId | 1 |
