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In this paper, we present an approach to designing decentralized robot control policies that mimic certain microscopic and macroscopic behaviors of ants performing collective transport tasks. In prior work, we

In this paper, we present an approach to designing decentralized robot control policies that mimic certain microscopic and macroscopic behaviors of ants performing collective transport tasks. In prior work, we used a stochastic hybrid system model to characterize the observed team dynamics of ant group retrieval of a rigid load. We have also used macroscopic population dynamic models to design enzyme-inspired stochastic control policies that allocate a robotic swarm around multiple boundaries in a way that is robust to environmental variations.

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Date Created
  • 2014-12-01
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  • Text
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    Identifier
    • Digital object identifier: 10.1007/s11721-014-0100-8
    • Identifier Type
      International standard serial number
      Identifier Value
      1935-3812
    • Identifier Type
      International standard serial number
      Identifier Value
      1935-3820
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    Wilson, Sean, Pavlic, Theodore P., Kumar, Ganesh P., Buffin, Aurelie, Pratt, Stephen C., & Berman, Spring (2014). Design of ant-inspired stochastic control policies for collective transport by robotic swarms. SWARM INTELLIGENCE, 8(4), 303-327. http://dx.doi.org/10.1007/s11721-014-0100-8

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