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Biologically inspired robot swarm control for subaqueous environment

Title
Biologically inspired robot swarm control for subaqueous environment
Authors
Kong, Dong-UckVoegele, ThomasLee, Dong HaKirchner, Frank
DGIST Authors
Kong, Dong-Uck; Lee, Dong Ha
Issue Date
2011
Citation
2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011, 598-602
Type
Conference
Article Type
Conference Paper
ISBN
9780000000000
Abstract
The goal of this work is to conceptualize a robust and flexible behavior controller not only for basic swarming behavior of homogeneous underwater robot teams, but also for advanced missions in subaqueous environment based on robust communication. Therefore, this paper proposes a modularized control architecture that represents the imitation of dolphin's phylogenetic species intelligence such as sensing and interpreting abilities and swarming habits of dolphins, but also additional skills from the learned intelligence. The swarming represents the basic behavior given in the natural environment. The mission consisting of behavior primitives can be structured by reinforcement learning to perform advanced missions. A knowledge based sensing module can be implemented additionally to improve the communication robustness. This paper especially focuses on the knowledge based communication concept. © 2011 IEEE.
URI
http://hdl.handle.net/20.500.11750/3915
DOI
10.1109/URAI.2011.6145890
Publisher
Institute of Electrical and Electronics Engineers Inc.
Files:
There are no files associated with this item.
Collection:
ETC2. Conference Papers
Convergence Research Center for Wellness2. Conference Papers


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