Emerging robot swarm traffic

PENDERS, Jacques and ALBOUL, Lyuba (2012). Emerging robot swarm traffic. International Journal of Intelligent Computing and Cybernetics, 5 (3), 312-339.

[img]
Preview
PDF - Accepted Version
Download (1237kB) | Preview
    Link to published version:: 10.1108/17563781211255871

    Abstract

    We discuss traffic patterns generated by swarms of robots while commuting to and from a base station. The overall question is whether to explicitly organise the traffic or whether a certain regularity develops `naturally'. Human driven motorized traffic is rigidly structured in two lanes. However, army ants develop a three-lane pattern in their traffic, while human pedestrians generate a main trail and secondary trials in either direction. Our robot swarm approach is bottom-up: designing individual agents we first investigate the mathematics of cases occurring when applying the artificial potential field method to three 'perfect' robots. We show that traffic lane pattern will not be disturbed by the internal system of forces. Next, we define models of sensor designs to account for the practical fact that robots (and ants) have limited visibility and compare the sensor models in groups of three robots. In the final step we define layouts of a highway: an unbounded open space, a trail with surpassable edges and a hard defined (walled) highway. Having defined the preliminaries we run swarm simulations and look for emerging traffic patterns. Apparently, depending on the initial situation a variety of lane patterns occurs, however, high traffic densities do delay the emergence of traffic lanes considerably. Overall we conclude that regularities do emerge naturally and can be turned into an advantage to obtain efficient robot traffic.

    Item Type: Article
    Research Institute, Centre or Group: Materials and Engineering Research Institute > Centre for Robotics and Automation > Mobile Machine and Vision Laboratory
    Identification Number: 10.1108/17563781211255871
    Depositing User: Jacques Penders
    Date Deposited: 11 Jan 2012 13:13
    Last Modified: 21 Sep 2012 14:00
    URI: http://shura.shu.ac.uk/id/eprint/4189

    Actions (login required)

    View Item

    Downloads

    Downloads per month over past year

    View more statistics