Obute, SO, Dogar, MR orcid.org/0000-0002-6896-5461 and Boyle, JH (2019) Chemotaxis Based Virtual Fence for Swarm Robots in Unbounded Environments. In: Martinez-Hernandez, U, Vouloutsi, V, Mura, A, Mangan, M, Asada, M, Prescott, TJ and Verschure, PFMJ, (eds.) Lecture Notes in Computer Science: Biomimetic and Biohybrid Systems. Living Machines 2019, 09-12 Jul 2019, Nara, Japan. Springer , pp. 216-227. ISBN 978-3-030-24740-9
Abstract
This paper presents a novel swarm robotics application of chemotaxis behaviour observed in microorganisms. This approach was used to cause exploration robots to return to a work area around the swarm’s nest within a boundless environment. We investigate the performance of our algorithm through extensive simulation studies and hardware validation. Results show that the chemotaxis approach is effective for keeping the swarm close to both stationary and moving nests. Performance comparison of these results with the unrealistic case where a boundary wall was used to keep the swarm within a target search area showed that our chemotaxis approach produced competitive results.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Editors: |
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Copyright, Publisher and Additional Information: | (c) 2019, Springer Nature Switzerland AG. This is an author produced version of a paper published in Lecture Notes in Computer Science. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Chemotaxis; Swarm robots; Exploration; Distributed robot systems |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Computing (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 23 Jul 2019 08:21 |
Last Modified: | 24 Jul 2019 08:03 |
Published Version: | https://link.springer.com/book/10.1007/978-3-030-2... |
Status: | Published |
Publisher: | Springer |
Identification Number: | 10.1007/978-3-030-24741-6_19 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:148694 |