Simulating swarm robots for collision avoidance problem based on a dynamic Bayesian network

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a simulator for the behaviors of swarm robots based on a Dynamic Bayesian Network (DBN). Our task is to design each robot's controller which enables the robot to patrol as many regions as possible without collisions. As the first step, we use two swarm robots, each of which has two motors each of which is connected to a wheel and three distance-measurement sensors. To design the controllers of these robots, we must determine several parameters such as the motor speed and thresholds of the three sensors. The simulator is used to reduce the number of real experiments in deciding values of such parameters. We fist performed measurement experiments for our real robots in order to get probabilistic data of the DBN. The simulator based on the DBN revealed appropriate values of a threshold parameter and interesting phase transitions of their behaviors in terms of the values.

Original languageEnglish
Title of host publicationAdvances in Artificial Life
Subtitle of host publicationDarwin Meets von Neumann - 10th European Conference, ECAL 2009, Revised Selected Papers
Pages416-423
Number of pages8
EditionPART 2
DOIs
Publication statusPublished - Jul 11 2011
Event10th European Conference of Artificial Life, ECAL 2009 - Budapest, Hungary
Duration: Sep 13 2009Sep 16 2009

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 2
Volume5778 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other10th European Conference of Artificial Life, ECAL 2009
CountryHungary
CityBudapest
Period9/13/099/16/09

Fingerprint

Dynamic Bayesian Networks
Collision Avoidance
Bayesian networks
Collision avoidance
Swarm
Robot
Robots
Simulator
Simulators
Controller
Sensor
Threshold Parameter
Distance Measurement
Controllers
Distance measurement
Sensors
Wheel
Experiment
Wheels
Phase Transition

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Hirai, H., Takano, S., & Suzuki, E. (2011). Simulating swarm robots for collision avoidance problem based on a dynamic Bayesian network. In Advances in Artificial Life: Darwin Meets von Neumann - 10th European Conference, ECAL 2009, Revised Selected Papers (PART 2 ed., pp. 416-423). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5778 LNAI, No. PART 2). https://doi.org/10.1007/978-3-642-21314-4_52

Simulating swarm robots for collision avoidance problem based on a dynamic Bayesian network. / Hirai, Hiroshi; Takano, Shigeru; Suzuki, Einoshin.

Advances in Artificial Life: Darwin Meets von Neumann - 10th European Conference, ECAL 2009, Revised Selected Papers. PART 2. ed. 2011. p. 416-423 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5778 LNAI, No. PART 2).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Hirai, H, Takano, S & Suzuki, E 2011, Simulating swarm robots for collision avoidance problem based on a dynamic Bayesian network. in Advances in Artificial Life: Darwin Meets von Neumann - 10th European Conference, ECAL 2009, Revised Selected Papers. PART 2 edn, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 2, vol. 5778 LNAI, pp. 416-423, 10th European Conference of Artificial Life, ECAL 2009, Budapest, Hungary, 9/13/09. https://doi.org/10.1007/978-3-642-21314-4_52
Hirai H, Takano S, Suzuki E. Simulating swarm robots for collision avoidance problem based on a dynamic Bayesian network. In Advances in Artificial Life: Darwin Meets von Neumann - 10th European Conference, ECAL 2009, Revised Selected Papers. PART 2 ed. 2011. p. 416-423. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2). https://doi.org/10.1007/978-3-642-21314-4_52
Hirai, Hiroshi ; Takano, Shigeru ; Suzuki, Einoshin. / Simulating swarm robots for collision avoidance problem based on a dynamic Bayesian network. Advances in Artificial Life: Darwin Meets von Neumann - 10th European Conference, ECAL 2009, Revised Selected Papers. PART 2. ed. 2011. pp. 416-423 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2).
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