Wilson, James, Timmis, Jonathan and Tyrrell, Andy (2019) An Amalgamation of Hormone Inspired Arbitration Systems for Application in Robot Swarms. Applied Sciences, 9 (17). e3524. ISSN 2076-3417
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Abstract
Abstract
Previous work has shown that virtual hormone systems can be engineered to arbitrateswarms of robots between sets of behaviours. These virtual hormones act similarly to theirnatural counterparts, providing a method of online, reactive adaptation. It is yet to be shownhow virtual hormone systems could be used when a robotic swarm has a large variety of task typesto execute. This paper details work that demonstrates the viability of a collection of virtual hormonesthat can be used to regulate and adapt a swarm over time, in response to different environmentsand tasks. Specifically, the paper examines a new method of hormone speed control for energyefficiency and combines it with two existing systems controlling environmental preference as wellas a selection of behaviours that produce an effective foraging swarm. Experiments confirm theeffectiveness of the combined system, showing that a swarm of robots equipped with multiple virtualhormones can forage efficiently to a specified item demand within an allotted period of time.
| Item Type: | Article |
|---|---|
| Additional Information: | ** From MDPI via Jisc Publications Router ** History: accepted 22-08-2019; pub-electronic 27-08-2019. ** Licence for this article: https://creativecommons.org/licenses/by/4.0/ |
| Uncontrolled Keywords: | swarm, robotics, hormone, behaviour, arbitration, demand |
| Related URLs: | |
| SWORD Depositor: | Publication Router |
| Depositing User: | Publication Router |
| URI: | https://sure.sunderland.ac.uk/id/eprint/11068 |
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