Swarming-based mobile target following using limited-capability mobile mini-robots

Li Fan, Prithviraj Dasgupta, Ke Cheng

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

Abstract

Locating and tracking mobile objects or targets using dynamically assigned multi-robot teams operating within an unknown or partially-known environment is an important problem in many applications of autonomous systems. Several approaches such as CMOMMT and pursuit-evasion games have been proposed to address this problem. However, each of these techniques requires specific sensors and/or considerable computational capabilities on each robot. In this paper, we consider the problem of locating and following mobile targets in an unknown environment, but only using inexpensive mini-robots with limited computation capabilities and less-sophisticated sensors. Our proposed technique is inspired by the swarming behavior observed in social insects such as ants when their nest is migrated to a different region, or when a food source they are traveling to is obstructed. We present detailed empirical analyzes of our proposed algorithm for mobile target following using a realistic model of e-puck robots within the Webots robot simulator. Our results show that our mobile target following mechanism enables limited-capability pursuer robots to successfully follow mobile targets under different operational and environment conditions.

Original languageEnglish (US)
Title of host publication2009 IEEE Swarm Intelligence Symposium, SIS 2009 - Proceedings
Pages168-175
Number of pages8
DOIs
StatePublished - Jul 20 2009
Event2009 IEEE Swarm Intelligence Symposium, SIS 2009 - Nashville, TN, United States
Duration: Mar 30 2009Apr 2 2009

Publication series

Name2009 IEEE Swarm Intelligence Symposium, SIS 2009 - Proceedings

Conference

Conference2009 IEEE Swarm Intelligence Symposium, SIS 2009
CountryUnited States
CityNashville, TN
Period3/30/094/2/09

Fingerprint

Robots
Sensors
Simulators

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Software

Cite this

Fan, L., Dasgupta, P., & Cheng, K. (2009). Swarming-based mobile target following using limited-capability mobile mini-robots. In 2009 IEEE Swarm Intelligence Symposium, SIS 2009 - Proceedings (pp. 168-175). [4937860] (2009 IEEE Swarm Intelligence Symposium, SIS 2009 - Proceedings). https://doi.org/10.1109/SIS.2009.4937860

Swarming-based mobile target following using limited-capability mobile mini-robots. / Fan, Li; Dasgupta, Prithviraj; Cheng, Ke.

2009 IEEE Swarm Intelligence Symposium, SIS 2009 - Proceedings. 2009. p. 168-175 4937860 (2009 IEEE Swarm Intelligence Symposium, SIS 2009 - Proceedings).

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

Fan, L, Dasgupta, P & Cheng, K 2009, Swarming-based mobile target following using limited-capability mobile mini-robots. in 2009 IEEE Swarm Intelligence Symposium, SIS 2009 - Proceedings., 4937860, 2009 IEEE Swarm Intelligence Symposium, SIS 2009 - Proceedings, pp. 168-175, 2009 IEEE Swarm Intelligence Symposium, SIS 2009, Nashville, TN, United States, 3/30/09. https://doi.org/10.1109/SIS.2009.4937860
Fan L, Dasgupta P, Cheng K. Swarming-based mobile target following using limited-capability mobile mini-robots. In 2009 IEEE Swarm Intelligence Symposium, SIS 2009 - Proceedings. 2009. p. 168-175. 4937860. (2009 IEEE Swarm Intelligence Symposium, SIS 2009 - Proceedings). https://doi.org/10.1109/SIS.2009.4937860
Fan, Li ; Dasgupta, Prithviraj ; Cheng, Ke. / Swarming-based mobile target following using limited-capability mobile mini-robots. 2009 IEEE Swarm Intelligence Symposium, SIS 2009 - Proceedings. 2009. pp. 168-175 (2009 IEEE Swarm Intelligence Symposium, SIS 2009 - Proceedings).
@inproceedings{e516841a142f4a32a2859e893b32dac1,
title = "Swarming-based mobile target following using limited-capability mobile mini-robots",
abstract = "Locating and tracking mobile objects or targets using dynamically assigned multi-robot teams operating within an unknown or partially-known environment is an important problem in many applications of autonomous systems. Several approaches such as CMOMMT and pursuit-evasion games have been proposed to address this problem. However, each of these techniques requires specific sensors and/or considerable computational capabilities on each robot. In this paper, we consider the problem of locating and following mobile targets in an unknown environment, but only using inexpensive mini-robots with limited computation capabilities and less-sophisticated sensors. Our proposed technique is inspired by the swarming behavior observed in social insects such as ants when their nest is migrated to a different region, or when a food source they are traveling to is obstructed. We present detailed empirical analyzes of our proposed algorithm for mobile target following using a realistic model of e-puck robots within the Webots robot simulator. Our results show that our mobile target following mechanism enables limited-capability pursuer robots to successfully follow mobile targets under different operational and environment conditions.",
author = "Li Fan and Prithviraj Dasgupta and Ke Cheng",
year = "2009",
month = "7",
day = "20",
doi = "10.1109/SIS.2009.4937860",
language = "English (US)",
isbn = "9781424427628",
series = "2009 IEEE Swarm Intelligence Symposium, SIS 2009 - Proceedings",
pages = "168--175",
booktitle = "2009 IEEE Swarm Intelligence Symposium, SIS 2009 - Proceedings",

}

TY - GEN

T1 - Swarming-based mobile target following using limited-capability mobile mini-robots

AU - Fan, Li

AU - Dasgupta, Prithviraj

AU - Cheng, Ke

PY - 2009/7/20

Y1 - 2009/7/20

N2 - Locating and tracking mobile objects or targets using dynamically assigned multi-robot teams operating within an unknown or partially-known environment is an important problem in many applications of autonomous systems. Several approaches such as CMOMMT and pursuit-evasion games have been proposed to address this problem. However, each of these techniques requires specific sensors and/or considerable computational capabilities on each robot. In this paper, we consider the problem of locating and following mobile targets in an unknown environment, but only using inexpensive mini-robots with limited computation capabilities and less-sophisticated sensors. Our proposed technique is inspired by the swarming behavior observed in social insects such as ants when their nest is migrated to a different region, or when a food source they are traveling to is obstructed. We present detailed empirical analyzes of our proposed algorithm for mobile target following using a realistic model of e-puck robots within the Webots robot simulator. Our results show that our mobile target following mechanism enables limited-capability pursuer robots to successfully follow mobile targets under different operational and environment conditions.

AB - Locating and tracking mobile objects or targets using dynamically assigned multi-robot teams operating within an unknown or partially-known environment is an important problem in many applications of autonomous systems. Several approaches such as CMOMMT and pursuit-evasion games have been proposed to address this problem. However, each of these techniques requires specific sensors and/or considerable computational capabilities on each robot. In this paper, we consider the problem of locating and following mobile targets in an unknown environment, but only using inexpensive mini-robots with limited computation capabilities and less-sophisticated sensors. Our proposed technique is inspired by the swarming behavior observed in social insects such as ants when their nest is migrated to a different region, or when a food source they are traveling to is obstructed. We present detailed empirical analyzes of our proposed algorithm for mobile target following using a realistic model of e-puck robots within the Webots robot simulator. Our results show that our mobile target following mechanism enables limited-capability pursuer robots to successfully follow mobile targets under different operational and environment conditions.

UR - http://www.scopus.com/inward/record.url?scp=67650496131&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=67650496131&partnerID=8YFLogxK

U2 - 10.1109/SIS.2009.4937860

DO - 10.1109/SIS.2009.4937860

M3 - Conference contribution

SN - 9781424427628

T3 - 2009 IEEE Swarm Intelligence Symposium, SIS 2009 - Proceedings

SP - 168

EP - 175

BT - 2009 IEEE Swarm Intelligence Symposium, SIS 2009 - Proceedings

ER -