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Biologically inspired collective construction with visual landmarks
- Biologically inspired collective construction with visual landmarks
- Frontiers of Information Technology & Electronic Engineering Vol. 13, Issue 5, Pages: 315-327(2012)
- Affiliations：
1.School of Control Science and Engineering, Shandong University, Jinan 250061, China
2.Department of Computing Science, University of Alberta, Edmonton, Alberta T6G 2E8, Canada
- Author bio：
[ "Zheng-wei ZHANG, zzwei21cn@mail.sdu.edu.cn" ]
[ "Hong ZHANG, hzhang@ualberta.ca" ]
- Funds：
DOI：10.1631/jzus.C1100243
CLC： TP242Received：22 August 2011，
Revised：2012-;4-;9，
Published：2012-05
- Accepted：
Scan QR Code
Zheng-wei ZHANG, Hong ZHANG, Yi-bin LI. Biologically inspired collective construction with visual landmarks[J]. Frontiers of Information Technology & Electronic Engineering, 2012, 13(5): 315-327.
Zheng-wei ZHANG, Hong ZHANG, Yi-bin LI. Biologically inspired collective construction with visual landmarks[J]. Frontiers of Information Technology & Electronic Engineering, 2012, 13(5): 315-327. DOI： 10.1631/jzus.C1100243.
摘要
Abstract
We describe our research in using environmental visual landmarks as the basis for completing simple robot construction tasks. Inspired by honeybee visual navigation behavior
a visual template mechanism is proposed in which a natural landmark serves as a visual reference or template for distance determination as well as for navigation during collective construction. To validate our proposed mechanism
a wall construction problem is investigated and a minimalist solution is given. Experimental results show that
using the mechanism of a visual template
a collective robotic system can successfully build the desired structure in a decentralized fashion using only local sensing and no direct communication. In addition
a particular variable
which defines tolerance for alignment of the structure
is found to impact the system performance. By decreasing the value of the variable
system performance is improved at the expense of a longer construction time. The visual template mechanism is appealing in that it can use a reference point or salient object in a natural environment that is new or unexplored and it could be adapted to facilitate more complicated building tasks.
关键词
Keywords
references
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