This work presents a novel control approach for allocating a robotic swarm among boundaries. It represents the first step toward developing a methodology for encounter-based swarm allocation that incorporates rigorously characterized spatial effects in the system without requiring analytical expressions for encounter rates. Our approach utilizes a macroscopic model of the swarm population dynam...

This paper provides an overview of the SWARM-BOTS project, a robotic project sponsored by the Future and Emerging Technologies program of the European Commission. The paper illustrates the goals of the project, the robot prototype and the 3D simulator we built. It also reports on the results of experimental work in which distributed adaptive controllers are used to control a group of real, or s...

The problem considered in this paper is how a cybernetic system can learn to control its actions in a hostile environment. This paper focuses on an approach to solving this problem in an environment with varying temperatures. In effect, machines that operate outdoors have higher survivability if actions are chosen during periods when it is cooler (e.g., nighttime or early morning rather than mi...

This paper presents an approach for designing of hierarchical TakagiSugeno fuzzy system (TS-FS) automatically. The hierarchical structure is evolved using Ant Programming (AP) with specific instructions. The fine tuning of the rule's parameters encoded in the structure is accomplished using Particle Swarm Optimization (PSO) algorithm. The proposed method interleaves both optimizations. Starting...

Swarm intelligence is the discipline that deals with natural and artificial systems composed of many individuals that coordinate using decentralized control and self-organization. The discipline focuses on the collective behaviors that result from the local interactions of the individuals with each other and with their environment. Examples of systems studied by swarm intelligence are colonies ...

In this paper, we will propose a method to generate fuzzy membership function automatically. Particle Swarm Optimization is used as optimized algorithm, supplement the performance of fuzzy system. PSO is able to generate an optimal of fuzzy set for the membership functions automatic adjustment. Fuzzy control system that automatically back up a truck to a specified point on a loading dock is use...

This paper proposes a new obstacle and collision avoidance control laws for a three-dimensional swarm of boids. The swarm exhibit collective emergent behaviors whilst avoiding the obstacles in the workspace. While flocking, animals group up in order to do various tasks and even a greater chance of evading predators. A generalized algorithms for attraction to the centroid, inter-individual swarm...

In practical applications of robot swarms with bio-inspired behaviors, a human operator will need to exert control over the swarm to fulfill the mission objectives. In many operational settings, human operators are remotely located and the communication environment is harsh. Hence, there exists some latency in information (or control command) transfer between the human and the swarm. In this pa...