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Statements

Subject Item
n2:RIV%2F00216305%3A26220%2F07%3APU68353%21RIV08-GA0-26220___
rdf:type
skos:Concept n11:Vysledek
dcterms:description
Článek popisuje experimentální řízení mobilních robotů v simullovaném prostředí, které společně shromažďují náhodně rozmístěné objekty do specifikovaného prostoru. The paper presents a series of experiments in a simulated environment where two autonomous mobile robots gather randomly distributed objects and cluster them on a pile. The co-ordination of the robots movements is achieved through stigmergy (an indirect form of communication through the environment). The random moves, necessary for stigmergy based foraging behaviour, make the task solution a time consuming process. In order to speed up the foraging behaviour, the immune network robot control is proposed. Stigmergic principles are coded in two artificial immune networks}for a collision free goal following behaviour and for an object picking up/dropping behaviour. Simulations confirm the improved performance of the foraging behaviour under the proposed immune network control. The paper presents a series of experiments in a simulated environment where two autonomous mobile robots gather randomly distributed objects and cluster them on a pile. The co-ordination of the robots movements is achieved through stigmergy (an indirect form of communication through the environment). The random moves, necessary for stigmergy based foraging behaviour, make the task solution a time consuming process. In order to speed up the foraging behaviour, the immune network robot control is proposed. Stigmergic principles are coded in two artificial immune networks}for a collision free goal following behaviour and for an object picking up/dropping behaviour. Simulations confirm the improved performance of the foraging behaviour under the proposed immune network control.
dcterms:title
Immune network control for stigmergy based foraging behaviour of autonomous mobile robot Řízení mobilních robotů na základě nepřímé robustrní komunikace Immune network control for stigmergy based foraging behaviour of autonomous mobile robot
skos:prefLabel
Immune network control for stigmergy based foraging behaviour of autonomous mobile robot Immune network control for stigmergy based foraging behaviour of autonomous mobile robot Řízení mobilních robotů na základě nepřímé robustrní komunikace
skos:notation
RIV/00216305:26220/07:PU68353!RIV08-GA0-26220___
n3:strany
265-285
n3:aktivita
n10:Z n10:P
n3:aktivity
P(GA102/05/0663), Z(MSM0021630503)
n3:cisloPeriodika
2-3
n3:dodaniDat
n5:2008
n3:domaciTvurceVysledku
n16:9625224 n16:5971551
n3:druhVysledku
n19:J
n3:duvernostUdaju
n6:S
n3:entitaPredkladatele
n17:predkladatel
n3:idSjednocenehoVysledku
425519
n3:idVysledku
RIV/00216305:26220/07:PU68353
n3:jazykVysledku
n13:eng
n3:klicovaSlova
foraging behaviour, stigmergy, immune network, autonomous mobile robot
n3:klicoveSlovo
n8:stigmergy n8:immune%20network n8:foraging%20behaviour n8:autonomous%20mobile%20robot
n3:kodStatuVydavatele
CZ - Česká republika
n3:kontrolniKodProRIV
[73D216FF3E42]
n3:nazevZdroje
International Journal of Adaptive Control and Signal Processing
n3:obor
n18:JC
n3:pocetDomacichTvurcuVysledku
2
n3:pocetTvurcuVysledku
4
n3:projekt
n14:GA102%2F05%2F0663
n3:rokUplatneniVysledku
n5:2007
n3:svazekPeriodika
21
n3:tvurceVysledku
Georgieva, Velichka Tsankova, Diana Zezulka, František Bradáč, Zdeněk
n3:zamer
n9:MSM0021630503
s:issn
0890-6327
s:numberOfPages
21
n15:organizacniJednotka
26220