Foraging Task of Multiple Mobile Robots in a Dynamic Environment Using Adaptive Behavior in Crickets
Masatoshi Ashikaga*, Mika Kikuchi**, Tetsutaro Hiraguchi***,
Midori Sakura**, Hitoshi Aonuma**, and Jun Ota*
*The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
**Hokkaido University, Kita 12 Nishi 6, Kita-ku, Sapporo 060-0812, Japan
***Tokyo Institute of Technology, 2-12-1-S5-355, Ookayama, Meguro-ku, Tokyo 152-8550, Japan
In this paper, we propose an algorithm for multiple mobile robots performing a foraging task. In the proposed algorithm, robots select behaviors based on their activities, which were adjusted by interaction with other robots and foods. The proposed algorithm was inspired by the mechanism governing the fighting behavior in male crickets. Simulation results showed that the algorithm is efficient in a dynamic environment.
Midori Sakura, Hitoshi Aonuma, , and Jun Ota, “Foraging Task of Multiple Mobile Robots in a Dynamic Environment Using Adaptive Behavior in Crickets,” J. Robot. Mechatron., Vol.19, No.4, pp. 466-473, 2007.
-  K. Kurumatani and M. Nakamura, “Generating Qualitative Equations about Macro-Behaviors of Foraging in Ant Colony,” Proc. of the German Conf. on Bioinformatics, GCB’96, pp. 142-147, 1996.
-  D. D. Tsankova, “From Local Actions to Global Tasks: Simulation of Stigmergy Based Foraging Behavior,” Second IEEE Int. Conf. on Intelligent Systems, pp. 353-358, 2004.
-  A. Drogoul and J. Ferber, “From Tom Thumb to the Dockers: Some Experiments with Foraging Robots,” Proc. of Int. Conf. on Simulation of Adaptive Behavior “From Animals to Animats 2,” pp. 451-459, 1993.
-  P. Rongier and A. Liegeois, “Analysis and Prediction of the Behavior of One Class of Multiple Foraging Robots with the Help of Stochastic Petri Nets,” 1999 IEEE Int. Conf. Man and Cybernetics, 5, pp. 143-148, 1999.
-  K. Sugawara, T. Kazama, and T. Watanabe, “Foraging Behavior of Interacting Robots with Virtual Pheromone,” Proc. of 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 3, pp. 3074-3079, 2004.
-  D. Kurabayashi, J. Ota, T. Arai, and K. Noguchi, “Behavior of a Group Composed of Robots with Heterogeneous Motion Algorithms,” Proc. of the 1999 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 1, pp. 241-246, 1999.
-  T. Higashi, K. Sekiyama, and T. Fukuda, “Autonomous Strategy Organization in the Dynamical Quantitative Environment,” Proc. of the 1998 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 3, pp. 1547-1552, 1998.
-  Y. Ikemoto, K. Kawabata, and H. Asama, “Mathematical Model of Caste Expression in Living Beings,” 16th Intelligent System Symposium, 6-30, pp. 29-32, 2006 (in Japanese).
-  J. Nagamoto, H. Aonuma, and M. Hisada, “Discrimination of Conspecific Individual via Cuticular Pheromones by Males of the Cricket Gryllus bim aculatus,” Zoological Science, 22, pp. 1079-1088, 2005.
-  H. Aonuma, M. Iwasaki, and K. Niwa, “Role of NO Signaling in Switching Mechanisms in the Nervous System of Insect,” SICE Proc. 2004, pp. 2477-2482, 2004.
-  R. Kanzaki and T. Mishima, “Pheromone-Triggered ‘Flipflopping’ Neural Signals Correlate with Activities of Neck Motor Neurons of a Male Moth, Bombyx mori,” Zoological Science, 13, pp. 79-87, 1996.
-  C. K. Hemelrijk, “Self-organizing Properties of Primate Social Behavior: A Hypothesis for Intersexual Rank Overlap in Chimpanzees Bonobos,” Evolutionary Anthropology, Suppl 1, pp. 91-94, 2002.
-  C. K. Hemelrijk, “Dominance Interactions, Spatial Dynamics and Emergent Reciprocity in a Virtual World,” Proc. of the 4th Int. Conf. on Simulation of Adaptive Behavior “From Animals to Animats 4,” pp. 545-552, 1996.
-  E. Bonabeau, G. Theraulaz, and J. Deneubourg, “Mathematical Model of Self-organizing Hierarchies in Animal Societies,” Bulletin of Mathematical Biology, 58(4), pp. 661-717, 1996.
-  E. Bonabeau, G. Theraulaz, and J. Deneubourg, “Dominance Orders in Animal Societies: The Self-organization Hypothesis Revisited,” Bulletin of Mathematical Biology, 61, pp. 727-757, 1999.
-  M. Ashikaga, T. Hiraguchi, M. Sakura, H. Aonuma, and J. Ota, “Modeling of Adaptive Behaviors in Crickets,” 18th SICE Symposium on Decentralized Autonomous Systems, pp. 189-194, 2006 (in Japanese).
-  T. Fujiki, K. Kawabata, Y. Ikemoto, H. Aonuma, and H. Asama, “A Study on Neural Circuit Model for Adaptive Behavior Selection of Insects –A Model of Adaptive Action Selection from NO/cGMP Cascade–,” 16th Intelligent System Symposium, 6-30, pp. 23-26, 2006 (in Japanese).
-  P. A. Stevenson, H. A. Hofmann, K. Schoch, and K. Schildberger, “The Fight and Fight Responses of Crickets Depleted of Biogenic Amines,” J. Neurobiol., 43, pp. 107-120, 2000.
Copyright© 2007 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.