Hierarchical Behaviour for Object Shape Recognition Using a Swarm of Robots

Adrian Rubio-Solis, Uriel Martinez-Hernandez

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

Abstract

A hierarchical cognitive architecture for robot exploration and recognition of object shape is presented. This cognitive architecture proposes the combination of multiple robot behaviours based on (1) Evolutionary, (2) Fuzzy Logic and (3) Bayesian approaches. First, the Evolutionary approach allows a swarm of robots to locate and reach an object for exploration. Second, Fuzzy Logic is used to control the exploration of the object shape. Third, the Bayesian approach allows the robot to detect the orientation of the walls of the object being explored. Once the exploration process finishes, the swarm of robots determine whether the object has a rectangular or circular shape. This work is validated in a simulated environment and MATLAB using a swarm of E-puck robots. Overall, the experiments demonstrate that simple robots are capable of performing complex tasks through the combination of simple collective behaviours while learning from the interaction with the environment.

Original languageEnglish
Title of host publicationBiomimetic and Biohybrid Systems. Living Machines 2019
EditorsVasiliki Vouloutsi, Anna Mura, Uriel Martinez-Hernandez, Minoru Asada, Paul F.M.J. Verschure, Michael Mangan, Tony J. Prescott
Place of PublicationCham, Switzerland
PublisherSpringer Verlag
Pages355-359
Number of pages5
ISBN (Print)9783030247409
DOIs
Publication statusE-pub ahead of print - 6 Jul 2019
Event8th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2019 - Nara, Japan
Duration: 9 Jul 201912 Jul 2019

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11556 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference8th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2019
CountryJapan
CityNara
Period9/07/1912/07/19

Keywords

  • Bayesian perception
  • Hierarchical control
  • Swarm robotics

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Rubio-Solis, A., & Martinez-Hernandez, U. (2019). Hierarchical Behaviour for Object Shape Recognition Using a Swarm of Robots. In V. Vouloutsi, A. Mura, U. Martinez-Hernandez, M. Asada, P. F. M. J. Verschure, M. Mangan, & T. J. Prescott (Eds.), Biomimetic and Biohybrid Systems. Living Machines 2019 (pp. 355-359). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11556 LNAI). Cham, Switzerland: Springer Verlag. https://doi.org/10.1007/978-3-030-24741-6_37

Hierarchical Behaviour for Object Shape Recognition Using a Swarm of Robots. / Rubio-Solis, Adrian; Martinez-Hernandez, Uriel.

Biomimetic and Biohybrid Systems. Living Machines 2019. ed. / Vasiliki Vouloutsi; Anna Mura; Uriel Martinez-Hernandez; Minoru Asada; Paul F.M.J. Verschure; Michael Mangan; Tony J. Prescott. Cham, Switzerland : Springer Verlag, 2019. p. 355-359 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11556 LNAI).

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

Rubio-Solis, A & Martinez-Hernandez, U 2019, Hierarchical Behaviour for Object Shape Recognition Using a Swarm of Robots. in V Vouloutsi, A Mura, U Martinez-Hernandez, M Asada, PFMJ Verschure, M Mangan & TJ Prescott (eds), Biomimetic and Biohybrid Systems. Living Machines 2019. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 11556 LNAI, Springer Verlag, Cham, Switzerland, pp. 355-359, 8th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2019, Nara, Japan, 9/07/19. https://doi.org/10.1007/978-3-030-24741-6_37
Rubio-Solis A, Martinez-Hernandez U. Hierarchical Behaviour for Object Shape Recognition Using a Swarm of Robots. In Vouloutsi V, Mura A, Martinez-Hernandez U, Asada M, Verschure PFMJ, Mangan M, Prescott TJ, editors, Biomimetic and Biohybrid Systems. Living Machines 2019. Cham, Switzerland: Springer Verlag. 2019. p. 355-359. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-030-24741-6_37
Rubio-Solis, Adrian ; Martinez-Hernandez, Uriel. / Hierarchical Behaviour for Object Shape Recognition Using a Swarm of Robots. Biomimetic and Biohybrid Systems. Living Machines 2019. editor / Vasiliki Vouloutsi ; Anna Mura ; Uriel Martinez-Hernandez ; Minoru Asada ; Paul F.M.J. Verschure ; Michael Mangan ; Tony J. Prescott. Cham, Switzerland : Springer Verlag, 2019. pp. 355-359 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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