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  1. Swarm Intelligence
  2. Swarm Intelligence : Volume 9
  3. Swarm Intelligence : Volume 9, Issue 1, March 2015
  4. The TAM: abstracting complex tasks in swarm robotics research
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Swarm Intelligence : Volume 11
Swarm Intelligence : Volume 10
Swarm Intelligence : Volume 9
Swarm Intelligence : Volume 9, Issue 4, December 2015
Swarm Intelligence : Volume 9, Issue 2-3, September 2015
Swarm Intelligence : Volume 9, Issue 1, March 2015
The TAM: abstracting complex tasks in swarm robotics research
Application of chaos measures to a simplified boids flocking model
Beyond pheromones: evolving error-tolerant, flexible, and scalable ant-inspired robot swarms
Swarm Intelligence : Volume 8
Swarm Intelligence : Volume 7
Swarm Intelligence : Volume 6
Swarm Intelligence : Volume 5
Swarm Intelligence : Volume 4
Swarm Intelligence : Volume 3
Swarm Intelligence : Volume 2
Swarm Intelligence : Volume 1

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The TAM: abstracting complex tasks in swarm robotics research

Content Provider SpringerLink
Author Brutschy, Arne Garattoni, Lorenzo Brambilla, Manuele Francesca, Gianpiero Pini, Giovanni Dorigo, Marco Birattari, Mauro
Copyright Year 2015
Abstract Research in swarm robotics focuses mostly on how robots interact and cooperate to perform tasks, rather than on the details of task execution. As a consequence, researchers often consider abstract tasks in their experimental work. For example, foraging is often studied without physically handling objects: the retrieval of an object from a source to a destination is abstracted into a trip between the two locations—no object is physically transported. Despite being commonly used, so far task abstraction has only been implemented in an ad hoc fashion. In this paper, we propose a new approach to abstracting complex tasks in swarm robotics research. This approach is based on a physical device called the “task abstraction module” (TAM) that abstracts single-robot tasks to be performed by an e-puck robot. A complex multi-robot task can be abstracted using a group of TAMs by first modeling the task as the set of its constituent single-robot subtasks and then abstracting each subtask with a TAM. We present a collection of tools for modeling complex tasks, and a framework for controlling a group of TAMs such that the behavior of the group implements the model of the task. The TAM enables research on cooperative behaviors and complex tasks with simple, cost-effective robots such as the e-puck—research that would be difficult and costly to conduct using specialized robots or ad hoc task abstraction. We demonstrate how to abstract a complex task with multiple TAMs in an example scenario involving a swarm of e-puck robots.
Starting Page 1
Ending Page 22
Page Count 22
File Format PDF
ISSN 19353812
Journal Swarm Intelligence
Volume Number 9
Issue Number 1
e-ISSN 19353820
Language English
Publisher Springer US
Publisher Date 2015-01-25
Publisher Place Boston
Access Restriction One Nation One Subscription (ONOS)
Subject Keyword Swarm robotics Task abstraction Swarm intelligence Robotics Artificial Intelligence (incl. Robotics) Computer Systems Organization and Communication Networks ApplicationMathematics/Computational Methods of Engineering Communications Engineering, Networks Computer Communication Networks
Content Type Text
Resource Type Article
Subject Artificial Intelligence
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