Self-Organizing Multirobot Exploration through Counter-Ant Algorithm View Full Text


Ontology type: schema:Chapter      Open Access: True


Chapter Info

DATE

2008

AUTHORS

Ilhem Kallel , Abdelhak Chatty , Adel M. Alimi

ABSTRACT

This paper presents an evolving method for a self-organizing multirobot exploration of an unknown environment. In such problem, a big consideration is given to the coordination behavior of robots in order to achieve the common tasks in an optimal way. Ant algorithms are proved to be very useful in solving such distributed control problems. We present here a modified version of the known ant algorithm, called Counter-Ant Algorithm (CAA). Indeed, the robots’collective behavior is based on repulsion instead of attraction to pheromone, which is a chemical matter open to evaporation and representing the core of ants’ cooperation. A series of experimentations with MINDSTORMS LEGO robots, and simulations under Madkit platform, in laboratory conditions similar to real ones, show the usefulness of our algorithm for self-organizing and cooperative exploration. More... »

PAGES

133-144

References to SciGraph publications

Book

TITLE

Self-Organizing Systems

ISBN

978-3-540-92156-1
978-3-540-92157-8

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/978-3-540-92157-8_12

DOI

http://dx.doi.org/10.1007/978-3-540-92157-8_12

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1014553870


Indexing Status Check whether this publication has been indexed by Scopus and Web Of Science using the SN Indexing Status Tool
Incoming Citations Browse incoming citations for this publication using opencitations.net

JSON-LD is the canonical representation for SciGraph data.

TIP: You can open this SciGraph record using an external JSON-LD service: JSON-LD Playground Google SDTT

[
  {
    "@context": "https://springernature.github.io/scigraph/jsonld/sgcontext.json", 
    "about": [
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/0801", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Artificial Intelligence and Image Processing", 
        "type": "DefinedTerm"
      }, 
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/08", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Information and Computing Sciences", 
        "type": "DefinedTerm"
      }
    ], 
    "author": [
      {
        "affiliation": {
          "alternateName": "University of Kairouan", 
          "id": "https://www.grid.ac/institutes/grid.442525.0", 
          "name": [
            "REGIM, Research Group on Intelligent Machines, National School of Engineers, University of Sfax, BP W 3038, Tunisia", 
            "High Institute of Computer Science and Management, University of Kairouan, Tunisia"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Kallel", 
        "givenName": "Ilhem", 
        "id": "sg:person.013324546562.32", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013324546562.32"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "University of Kairouan", 
          "id": "https://www.grid.ac/institutes/grid.442525.0", 
          "name": [
            "REGIM, Research Group on Intelligent Machines, National School of Engineers, University of Sfax, BP W 3038, Tunisia", 
            "High Institute of Computer Science and Management, University of Kairouan, Tunisia"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Chatty", 
        "givenName": "Abdelhak", 
        "id": "sg:person.015134210712.64", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.015134210712.64"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "University of Sfax", 
          "id": "https://www.grid.ac/institutes/grid.412124.0", 
          "name": [
            "REGIM, Research Group on Intelligent Machines, National School of Engineers, University of Sfax, BP W 3038, Tunisia"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Alimi", 
        "givenName": "Adel M.", 
        "id": "sg:person.014560424266.28", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.014560424266.28"
        ], 
        "type": "Person"
      }
    ], 
    "citation": [
      {
        "id": "sg:pub.10.1023/a:1008855018923", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1012015643", 
          "https://doi.org/10.1023/a:1008855018923"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1162/106454699568737", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1017071104"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1016/j.ics.2004.06.013", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1020545223"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1016/j.robot.2007.01.008", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1025792337"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1177/105971239300200204", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1026021383"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1177/105971239300200204", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1026021383"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1145/1242060.1242061", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1028465556"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1016/s0921-8890(99)00066-4", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1048489074"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1016/s1568-4946(01)00002-3", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1050030847"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1002/int.20074", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1052740395"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/70.681242", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1061216543"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/iros.1993.583135", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1086341440"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/isefs.2006.251185", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1093867094"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/iecon.2000.973233", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1094144977"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/iros.1994.407603", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1094159983"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/gefs.2008.4484563", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1094297986"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/sis.2003.1202241", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1095185427"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/ramech.2004.1437993", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1095547809"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://app.dimensions.ai/details/publication/pub.1110615530", 
        "type": "CreativeWork"
      }
    ], 
    "datePublished": "2008", 
    "datePublishedReg": "2008-01-01", 
    "description": "This paper presents an evolving method for a self-organizing multirobot exploration of an unknown environment. In such problem, a big consideration is given to the coordination behavior of robots in order to achieve the common tasks in an optimal way. Ant algorithms are proved to be very useful in solving such distributed control problems. We present here a modified version of the known ant algorithm, called Counter-Ant Algorithm (CAA). Indeed, the robots\u2019collective behavior is based on repulsion instead of attraction to pheromone, which is a chemical matter open to evaporation and representing the core of ants\u2019 cooperation. A series of experimentations with MINDSTORMS LEGO robots, and simulations under Madkit platform, in laboratory conditions similar to real ones, show the usefulness of our algorithm for self-organizing and cooperative exploration.", 
    "editor": [
      {
        "familyName": "Hummel", 
        "givenName": "Karin Anna", 
        "type": "Person"
      }, 
      {
        "familyName": "Sterbenz", 
        "givenName": "James P. G.", 
        "type": "Person"
      }
    ], 
    "genre": "chapter", 
    "id": "sg:pub.10.1007/978-3-540-92157-8_12", 
    "inLanguage": [
      "en"
    ], 
    "isAccessibleForFree": true, 
    "isPartOf": {
      "isbn": [
        "978-3-540-92156-1", 
        "978-3-540-92157-8"
      ], 
      "name": "Self-Organizing Systems", 
      "type": "Book"
    }, 
    "name": "Self-Organizing Multirobot Exploration through Counter-Ant Algorithm", 
    "pagination": "133-144", 
    "productId": [
      {
        "name": "doi", 
        "type": "PropertyValue", 
        "value": [
          "10.1007/978-3-540-92157-8_12"
        ]
      }, 
      {
        "name": "readcube_id", 
        "type": "PropertyValue", 
        "value": [
          "455561d92e43de72802f9d7834a673c1e5cf81b4f4d68fcb90b7c01d356453ac"
        ]
      }, 
      {
        "name": "dimensions_id", 
        "type": "PropertyValue", 
        "value": [
          "pub.1014553870"
        ]
      }
    ], 
    "publisher": {
      "location": "Berlin, Heidelberg", 
      "name": "Springer Berlin Heidelberg", 
      "type": "Organisation"
    }, 
    "sameAs": [
      "https://doi.org/10.1007/978-3-540-92157-8_12", 
      "https://app.dimensions.ai/details/publication/pub.1014553870"
    ], 
    "sdDataset": "chapters", 
    "sdDatePublished": "2019-04-16T06:12", 
    "sdLicense": "https://scigraph.springernature.com/explorer/license/", 
    "sdPublisher": {
      "name": "Springer Nature - SN SciGraph project", 
      "type": "Organization"
    }, 
    "sdSource": "s3://com-uberresearch-data-dimensions-target-20181106-alternative/cleanup/v134/2549eaecd7973599484d7c17b260dba0a4ecb94b/merge/v9/a6c9fde33151104705d4d7ff012ea9563521a3ce/jats-lookup/v90/0000000351_0000000351/records_43225_00000000.jsonl", 
    "type": "Chapter", 
    "url": "https://link.springer.com/10.1007%2F978-3-540-92157-8_12"
  }
]
 

Download the RDF metadata as:  json-ld nt turtle xml License info

HOW TO GET THIS DATA PROGRAMMATICALLY:

JSON-LD is a popular format for linked data which is fully compatible with JSON.

curl -H 'Accept: application/ld+json' 'https://scigraph.springernature.com/pub.10.1007/978-3-540-92157-8_12'

N-Triples is a line-based linked data format ideal for batch operations.

curl -H 'Accept: application/n-triples' 'https://scigraph.springernature.com/pub.10.1007/978-3-540-92157-8_12'

Turtle is a human-readable linked data format.

curl -H 'Accept: text/turtle' 'https://scigraph.springernature.com/pub.10.1007/978-3-540-92157-8_12'

RDF/XML is a standard XML format for linked data.

curl -H 'Accept: application/rdf+xml' 'https://scigraph.springernature.com/pub.10.1007/978-3-540-92157-8_12'


 

This table displays all metadata directly associated to this object as RDF triples.

142 TRIPLES      23 PREDICATES      45 URIs      20 LITERALS      8 BLANK NODES

Subject Predicate Object
1 sg:pub.10.1007/978-3-540-92157-8_12 schema:about anzsrc-for:08
2 anzsrc-for:0801
3 schema:author N407b4fe61ebc455ea37cb2367e559af4
4 schema:citation sg:pub.10.1023/a:1008855018923
5 https://app.dimensions.ai/details/publication/pub.1110615530
6 https://doi.org/10.1002/int.20074
7 https://doi.org/10.1016/j.ics.2004.06.013
8 https://doi.org/10.1016/j.robot.2007.01.008
9 https://doi.org/10.1016/s0921-8890(99)00066-4
10 https://doi.org/10.1016/s1568-4946(01)00002-3
11 https://doi.org/10.1109/70.681242
12 https://doi.org/10.1109/gefs.2008.4484563
13 https://doi.org/10.1109/iecon.2000.973233
14 https://doi.org/10.1109/iros.1993.583135
15 https://doi.org/10.1109/iros.1994.407603
16 https://doi.org/10.1109/isefs.2006.251185
17 https://doi.org/10.1109/ramech.2004.1437993
18 https://doi.org/10.1109/sis.2003.1202241
19 https://doi.org/10.1145/1242060.1242061
20 https://doi.org/10.1162/106454699568737
21 https://doi.org/10.1177/105971239300200204
22 schema:datePublished 2008
23 schema:datePublishedReg 2008-01-01
24 schema:description This paper presents an evolving method for a self-organizing multirobot exploration of an unknown environment. In such problem, a big consideration is given to the coordination behavior of robots in order to achieve the common tasks in an optimal way. Ant algorithms are proved to be very useful in solving such distributed control problems. We present here a modified version of the known ant algorithm, called Counter-Ant Algorithm (CAA). Indeed, the robots’collective behavior is based on repulsion instead of attraction to pheromone, which is a chemical matter open to evaporation and representing the core of ants’ cooperation. A series of experimentations with MINDSTORMS LEGO robots, and simulations under Madkit platform, in laboratory conditions similar to real ones, show the usefulness of our algorithm for self-organizing and cooperative exploration.
25 schema:editor Nebf77b71847a466094d3e5cf42eb7808
26 schema:genre chapter
27 schema:inLanguage en
28 schema:isAccessibleForFree true
29 schema:isPartOf N828079e8a3d54994849a299b261dc39e
30 schema:name Self-Organizing Multirobot Exploration through Counter-Ant Algorithm
31 schema:pagination 133-144
32 schema:productId N1ed4448fb7dc4111851d619ac1c712b5
33 Ncf81622b62224411a1ade550e3fb6c25
34 Ne6a839645e5a4bd494a940981e7085b9
35 schema:publisher Nb0ae9169b18e464dbd0960d2e80aa986
36 schema:sameAs https://app.dimensions.ai/details/publication/pub.1014553870
37 https://doi.org/10.1007/978-3-540-92157-8_12
38 schema:sdDatePublished 2019-04-16T06:12
39 schema:sdLicense https://scigraph.springernature.com/explorer/license/
40 schema:sdPublisher N01c8c7c0446e4c64b63816b0c65b24be
41 schema:url https://link.springer.com/10.1007%2F978-3-540-92157-8_12
42 sgo:license sg:explorer/license/
43 sgo:sdDataset chapters
44 rdf:type schema:Chapter
45 N01c8c7c0446e4c64b63816b0c65b24be schema:name Springer Nature - SN SciGraph project
46 rdf:type schema:Organization
47 N09ef75c2123a460daab926a6654ee66f rdf:first N4bddf18f224d4b37a4e2f191454848f3
48 rdf:rest rdf:nil
49 N1ed4448fb7dc4111851d619ac1c712b5 schema:name doi
50 schema:value 10.1007/978-3-540-92157-8_12
51 rdf:type schema:PropertyValue
52 N3040c69319bb43799dc04fb8a11018ea rdf:first sg:person.015134210712.64
53 rdf:rest Nb2422a8d9d4a4a8f859289c8d7785097
54 N407b4fe61ebc455ea37cb2367e559af4 rdf:first sg:person.013324546562.32
55 rdf:rest N3040c69319bb43799dc04fb8a11018ea
56 N4bddf18f224d4b37a4e2f191454848f3 schema:familyName Sterbenz
57 schema:givenName James P. G.
58 rdf:type schema:Person
59 N828079e8a3d54994849a299b261dc39e schema:isbn 978-3-540-92156-1
60 978-3-540-92157-8
61 schema:name Self-Organizing Systems
62 rdf:type schema:Book
63 Na565ab530a9041fb8f1820e4485f57cc schema:familyName Hummel
64 schema:givenName Karin Anna
65 rdf:type schema:Person
66 Nb0ae9169b18e464dbd0960d2e80aa986 schema:location Berlin, Heidelberg
67 schema:name Springer Berlin Heidelberg
68 rdf:type schema:Organisation
69 Nb2422a8d9d4a4a8f859289c8d7785097 rdf:first sg:person.014560424266.28
70 rdf:rest rdf:nil
71 Ncf81622b62224411a1ade550e3fb6c25 schema:name dimensions_id
72 schema:value pub.1014553870
73 rdf:type schema:PropertyValue
74 Ne6a839645e5a4bd494a940981e7085b9 schema:name readcube_id
75 schema:value 455561d92e43de72802f9d7834a673c1e5cf81b4f4d68fcb90b7c01d356453ac
76 rdf:type schema:PropertyValue
77 Nebf77b71847a466094d3e5cf42eb7808 rdf:first Na565ab530a9041fb8f1820e4485f57cc
78 rdf:rest N09ef75c2123a460daab926a6654ee66f
79 anzsrc-for:08 schema:inDefinedTermSet anzsrc-for:
80 schema:name Information and Computing Sciences
81 rdf:type schema:DefinedTerm
82 anzsrc-for:0801 schema:inDefinedTermSet anzsrc-for:
83 schema:name Artificial Intelligence and Image Processing
84 rdf:type schema:DefinedTerm
85 sg:person.013324546562.32 schema:affiliation https://www.grid.ac/institutes/grid.442525.0
86 schema:familyName Kallel
87 schema:givenName Ilhem
88 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013324546562.32
89 rdf:type schema:Person
90 sg:person.014560424266.28 schema:affiliation https://www.grid.ac/institutes/grid.412124.0
91 schema:familyName Alimi
92 schema:givenName Adel M.
93 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.014560424266.28
94 rdf:type schema:Person
95 sg:person.015134210712.64 schema:affiliation https://www.grid.ac/institutes/grid.442525.0
96 schema:familyName Chatty
97 schema:givenName Abdelhak
98 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.015134210712.64
99 rdf:type schema:Person
100 sg:pub.10.1023/a:1008855018923 schema:sameAs https://app.dimensions.ai/details/publication/pub.1012015643
101 https://doi.org/10.1023/a:1008855018923
102 rdf:type schema:CreativeWork
103 https://app.dimensions.ai/details/publication/pub.1110615530 schema:CreativeWork
104 https://doi.org/10.1002/int.20074 schema:sameAs https://app.dimensions.ai/details/publication/pub.1052740395
105 rdf:type schema:CreativeWork
106 https://doi.org/10.1016/j.ics.2004.06.013 schema:sameAs https://app.dimensions.ai/details/publication/pub.1020545223
107 rdf:type schema:CreativeWork
108 https://doi.org/10.1016/j.robot.2007.01.008 schema:sameAs https://app.dimensions.ai/details/publication/pub.1025792337
109 rdf:type schema:CreativeWork
110 https://doi.org/10.1016/s0921-8890(99)00066-4 schema:sameAs https://app.dimensions.ai/details/publication/pub.1048489074
111 rdf:type schema:CreativeWork
112 https://doi.org/10.1016/s1568-4946(01)00002-3 schema:sameAs https://app.dimensions.ai/details/publication/pub.1050030847
113 rdf:type schema:CreativeWork
114 https://doi.org/10.1109/70.681242 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061216543
115 rdf:type schema:CreativeWork
116 https://doi.org/10.1109/gefs.2008.4484563 schema:sameAs https://app.dimensions.ai/details/publication/pub.1094297986
117 rdf:type schema:CreativeWork
118 https://doi.org/10.1109/iecon.2000.973233 schema:sameAs https://app.dimensions.ai/details/publication/pub.1094144977
119 rdf:type schema:CreativeWork
120 https://doi.org/10.1109/iros.1993.583135 schema:sameAs https://app.dimensions.ai/details/publication/pub.1086341440
121 rdf:type schema:CreativeWork
122 https://doi.org/10.1109/iros.1994.407603 schema:sameAs https://app.dimensions.ai/details/publication/pub.1094159983
123 rdf:type schema:CreativeWork
124 https://doi.org/10.1109/isefs.2006.251185 schema:sameAs https://app.dimensions.ai/details/publication/pub.1093867094
125 rdf:type schema:CreativeWork
126 https://doi.org/10.1109/ramech.2004.1437993 schema:sameAs https://app.dimensions.ai/details/publication/pub.1095547809
127 rdf:type schema:CreativeWork
128 https://doi.org/10.1109/sis.2003.1202241 schema:sameAs https://app.dimensions.ai/details/publication/pub.1095185427
129 rdf:type schema:CreativeWork
130 https://doi.org/10.1145/1242060.1242061 schema:sameAs https://app.dimensions.ai/details/publication/pub.1028465556
131 rdf:type schema:CreativeWork
132 https://doi.org/10.1162/106454699568737 schema:sameAs https://app.dimensions.ai/details/publication/pub.1017071104
133 rdf:type schema:CreativeWork
134 https://doi.org/10.1177/105971239300200204 schema:sameAs https://app.dimensions.ai/details/publication/pub.1026021383
135 rdf:type schema:CreativeWork
136 https://www.grid.ac/institutes/grid.412124.0 schema:alternateName University of Sfax
137 schema:name REGIM, Research Group on Intelligent Machines, National School of Engineers, University of Sfax, BP W 3038, Tunisia
138 rdf:type schema:Organization
139 https://www.grid.ac/institutes/grid.442525.0 schema:alternateName University of Kairouan
140 schema:name High Institute of Computer Science and Management, University of Kairouan, Tunisia
141 REGIM, Research Group on Intelligent Machines, National School of Engineers, University of Sfax, BP W 3038, Tunisia
142 rdf:type schema:Organization
 




Preview window. Press ESC to close (or click here)


...