ColCOSΦ: A Multiple Pheromone Communication System for Swarm Robotics and Social Insects Research

Sun, Xuelong and liu, Tian and Hu, Cheng and Fu, Qinbing and Yue, Shigang (2019) ColCOSΦ: A Multiple Pheromone Communication System for Swarm Robotics and Social Insects Research. In: The 2019 IEEE International Conference on Advanced Robotics and Mechatronics (ICARM), 3rd-5th July 2019, Osaka, Japan.

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Item Type:Conference or Workshop contribution (Paper)
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Abstract

In the last few decades we have witnessed how the pheromone of social insect has become a rich inspiration source of swarm robotics. By utilising the virtual pheromone in physical swarm robot system to coordinate individuals and realise direct/indirect inter-robot communications like the social insect, stigmergic behaviour has emerged. However, many studies only take one single pheromone into account in solving swarm problems, which is not the case in real insects. In the real social insect world, diverse behaviours, complex collective performances and flexible transition from one state to another are guided by different kinds of pheromones and their interactions. Therefore, whether multiple pheromone based strategy can inspire swarm robotics research, and inversely how the performances of swarm robots controlled by multiple pheromones bring inspirations to explain the social insects’ behaviours will become an interesting question. Thus, to provide a reliable system to undertake the multiple pheromone study, in this paper, we specifically proposed and realised a multiple pheromone communication system called ColCOSΦ. This system consists of a virtual pheromone sub-system wherein the multiple pheromone is represented by a colour image displayed on a screen, and the micro-robots platform designed for swarm robotics applications. Two case studies are undertaken to verify the effectiveness of this system: one is the multiple pheromone based on an ant’s forage and another is the interactions of aggregation and alarm pheromones. The experimental results demonstrate the feasibility of ColCOSΦ and its great potential in directing swarm robotics and social insects research.

Keywords:multiple pheromones, Colias micro mobile robot, communication, swarm robotics, social insects
Subjects:G Mathematical and Computer Sciences > G400 Computer Science
H Engineering > H670 Robotics and Cybernetics
Divisions:College of Science > School of Computer Science
ID Code:36187
Deposited On:18 Jun 2019 08:38

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