HUSCAP logo Hokkaido Univ. logo

Hokkaido University Collection of Scholarly and Academic Papers >
Graduate School of Engineering / Faculty of Engineering >
Peer-reviewed Journal Articles, etc >

On a bio-inspired hybrid pheromone signalling for efficient map exploration of multiple mobile service robots

Files in This Item:
abhijeet_ravankar_arob2016_springer.pdf8.99 MBPDFView/Open
Please use this identifier to cite or link to this item:

Title: On a bio-inspired hybrid pheromone signalling for efficient map exploration of multiple mobile service robots
Authors: Ravankar, Abhijeet Browse this author
Ravankar, Ankit A. Browse this author
Kobayashi, Yukinori Browse this author
Emaru, Takanori Browse this author
Keywords: Uncertainty-based pheromone deposition
Node representation
EKF-pheromone integration
Multi-robot map exploration
Issue Date: Jun-2016
Publisher: Springer
Journal Title: Artificial life and robotics
Volume: 21
Issue: 2
Start Page: 221
End Page: 231
Publisher DOI: 10.1007/s10015-016-0279-4
Abstract: This paper presents a novel bio-inspired hybrid communication framework that incorporates the repelling behaviour of anti-aphrodisiac pheromones and attractive behaviour of pheromones for efficient map exploration of multiple mobile service robots. The proposed communication framework presents a scheme for robots to efficiently serve large areas of map, while cooperating with each other through proper pheromone deposition. This eliminates the need of explicitly programming each service robot to serve particular areas of the map. The paths taken by robots are represented as nodes across which pheromones are deposited. This reduces the search space for tracking pheromones and reduces data size to be communicated between robots. A novel pheromone deposition model is presented which takes into account the uncertainty in the robot's position. This eliminates robots to deposit pheromones at wrong places when localization fails. The framework also integrates the pheromone signalling mechanism in landmark-based Extended Kalman Filter (EKF) localization and allows the robots to capture areas or sub-areas of the map, to improve the localization. A scheme to resolve conflicts through local communication is presented. We discuss, through experimental and simulation results, two cases of floor cleaning task, and surveillance task, performed by multiple robots. Results show that the proposed scheme enables multiple service robots to perform cooperative tasks intelligently without any explicit programming.
Rights: The final publication is available at Springer via
Type: article (author version)
Appears in Collections:工学院・工学研究院 (Graduate School of Engineering / Faculty of Engineering) > 雑誌発表論文等 (Peer-reviewed Journal Articles, etc)

Submitter: Abhijeet Ravankar

Export metadata:

OAI-PMH ( junii2 , jpcoar_1.0 )

MathJax is now OFF:


 - Hokkaido University