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Full-Text Articles in Engineering
Robot Motion Planning In Dynamic Environments, Hao-Tien Lewis Chiang
Robot Motion Planning In Dynamic Environments, Hao-Tien Lewis Chiang
Computer Science ETDs
Robot motion planning in dynamic environments is critical for many robotic applications, such as self-driving cars, UAVs and service robots operating in changing environments. However, motion planning in dynamic environments is very challenging as this problem has been shown to be NP-Hard and in PSPACE, even in the simplest case. As a result, the lack of safe, efficient planning solutions for real-world robots is one of the biggest obstacles for ubiquitous adoption of robots in everyday life. Specifically, there are four main challenges facing motion planning in dynamic environments: obstacle motion uncertainty, obstacle interaction, complex robot dynamics and noise, and …
An Efficient Multiple-Place Foraging Algorithm For Scalable Robot Swarms, Qi Lu
An Efficient Multiple-Place Foraging Algorithm For Scalable Robot Swarms, Qi Lu
Computer Science ETDs
Searching and collecting multiple resources from large unmapped environments is an important challenge. It is particularly difficult given limited time, a large search area and incomplete data about the environment. This search task is an abstraction of many real-world applications such as search and rescue, hazardous material clean-up, and space exploration. The collective foraging behavior of robot swarms is an effective approach for this task. In our work, individual robots have limited sensing and communication range (like ants), but they are organized and work together to complete foraging tasks collectively. An efficient foraging algorithm coordinates robots to search and collect …
Detection Of Pheromone Laying Event In Foraging Data Of Harvester Ants Using Change Point Analysis Method, Safeeul Bashir Safee
Detection Of Pheromone Laying Event In Foraging Data Of Harvester Ants Using Change Point Analysis Method, Safeeul Bashir Safee
Computer Science ETDs
Communication is an important factor in the foraging performance of social insects, such as ants. During foraging, ants keep track of food sources by using memory (site fidelity) or by communicating through pheromones. Previous field experiments showed that the rate of seed collection depends on the distribution of food in the environment. If food is spatially clustered, then it is beneficial for ants recruit nest mates to collect seeds from large clusters. However, we do not know when the recruitment occurs in natural ant population. To explore this question, we used a power law distribution to arrange seeds in piles …