Role of stochasticity in self-organization of robotic swarms
This paper investigates the effectiveness of designed random behavior in self-organization of swarm of robotic agents. Inspired by the self-organization observed in biological cells and the role played by random forces in providing robustness in cell self-organization, we investigate the possibility...
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| creator | Kumar, M. Milutinovic, D. Garg, D.P. |
| description | This paper investigates the effectiveness of designed random behavior in self-organization of swarm of robotic agents. Inspired by the self-organization observed in biological cells and the role played by random forces in providing robustness in cell self-organization, we investigate the possibility of designing a decentralized controller for a swarm of agents in which the stochastic process is included. This paper considers flocking as a self-organizing behavior example to validate our findings. The controller is designed in the framework of Lyapunov function, and it is based on the artificial potential due to interactions among agents. Our analysis shows that the flocking behavior of the swarm is improved and is more robust when the stochastic process is included in the agent controller. |
| doi_str_mv | 10.1109/ACC.2008.4586478 |
| format | Conference Proceeding |
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Inspired by the self-organization observed in biological cells and the role played by random forces in providing robustness in cell self-organization, we investigate the possibility of designing a decentralized controller for a swarm of agents in which the stochastic process is included. This paper considers flocking as a self-organizing behavior example to validate our findings. The controller is designed in the framework of Lyapunov function, and it is based on the artificial potential due to interactions among agents. Our analysis shows that the flocking behavior of the swarm is improved and is more robust when the stochastic process is included in the agent controller.</description><subject>Biological cells</subject><subject>Biological systems</subject><subject>Control systems</subject><subject>Intelligent robots</subject><subject>Marine animals</subject><subject>Organisms</subject><subject>Robot sensing systems</subject><subject>Robust control</subject><subject>Robustness</subject><subject>Stochastic processes</subject><issn>0743-1619</issn><issn>2378-5861</issn><isbn>1424420784</isbn><isbn>9781424420780</isbn><isbn>1424420792</isbn><isbn>9781424420797</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2008</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpFkElLxEAYRNsNjOPcBS_5Ax2_XtILeBnCuMCAIHoeetWWTFrSARl_vREHPBXFe9ShELoi0BAC-mbVdQ0FUA1vleBSHaELwinnFKSmx6iiTCo8I3LyDxQ_RRVIzjARRJ-jZSkfAEC0kCBlhW6fcx_qHOsyZfduypRcmvZ1GuoS-ojz-GaG9G2mlIdfa8w2z0pdvsy4K5foLJq-hOUhF-j1bv3SPeDN0_1jt9pgRymdsLbgjW6Zj84qA2ApGBFi9EYQ0TLjLbNWyVn2SlhNCXW-hTgXaKMlji3Q9d9uCiFsP8e0M-N-e3iB_QD6V0z8</recordid><startdate>200806</startdate><enddate>200806</enddate><creator>Kumar, M.</creator><creator>Milutinovic, D.</creator><creator>Garg, D.P.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>200806</creationdate><title>Role of stochasticity in self-organization of robotic swarms</title><author>Kumar, M. ; Milutinovic, D. ; Garg, D.P.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c222t-9b0da953dfcb8a00b20a6effda61653adb3bb87c22d86b9212cd50fd8605fb1c3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2008</creationdate><topic>Biological cells</topic><topic>Biological systems</topic><topic>Control systems</topic><topic>Intelligent robots</topic><topic>Marine animals</topic><topic>Organisms</topic><topic>Robot sensing systems</topic><topic>Robust control</topic><topic>Robustness</topic><topic>Stochastic processes</topic><toplevel>online_resources</toplevel><creatorcontrib>Kumar, M.</creatorcontrib><creatorcontrib>Milutinovic, D.</creatorcontrib><creatorcontrib>Garg, D.P.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Kumar, M.</au><au>Milutinovic, D.</au><au>Garg, D.P.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Role of stochasticity in self-organization of robotic swarms</atitle><btitle>2008 American Control Conference</btitle><stitle>ACC</stitle><date>2008-06</date><risdate>2008</risdate><spage>123</spage><epage>128</epage><pages>123-128</pages><issn>0743-1619</issn><eissn>2378-5861</eissn><isbn>1424420784</isbn><isbn>9781424420780</isbn><eisbn>1424420792</eisbn><eisbn>9781424420797</eisbn><abstract>This paper investigates the effectiveness of designed random behavior in self-organization of swarm of robotic agents. Inspired by the self-organization observed in biological cells and the role played by random forces in providing robustness in cell self-organization, we investigate the possibility of designing a decentralized controller for a swarm of agents in which the stochastic process is included. This paper considers flocking as a self-organizing behavior example to validate our findings. The controller is designed in the framework of Lyapunov function, and it is based on the artificial potential due to interactions among agents. Our analysis shows that the flocking behavior of the swarm is improved and is more robust when the stochastic process is included in the agent controller.</abstract><pub>IEEE</pub><doi>10.1109/ACC.2008.4586478</doi><tpages>6</tpages></addata></record> |
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| ispartof | 2008 American Control Conference, 2008, p.123-128 |
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| language | eng |
| recordid | cdi_ieee_primary_4586478 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Biological cells Biological systems Control systems Intelligent robots Marine animals Organisms Robot sensing systems Robust control Robustness Stochastic processes |
| title | Role of stochasticity in self-organization of robotic swarms |
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