Biologically inspired collective construction with visual landmarks

Zheng-wei ZHANG; Hong ZHANG; Yi-bin LI

doi:10.1631/jzus.C1100243

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Biologically inspired collective construction with visual landmarks

计算机与自动化 | Updated：2022-12-09

- Biologically inspired collective construction with visual landmarks
- Biologically inspired collective construction with visual landmarks
- 信息与电子工程前沿（英文） 2012年13卷第5期页码：315-327
- 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：
  
  Project (No. 61075091) supported by the National Natural Science Foundation of China
- DOI：10.1631/jzus.C1100243
  中图分类号： TP242
- 收稿：2011-08-22，
  
  修回：2012-;4-;9，
  
  纸质出版：2012-05
- Accepted：
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Biologically inspired collective construction with visual landmarks[J]. 信息与电子工程前沿（英文）, 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.
Biologically inspired collective construction with visual landmarks[J]. 信息与电子工程前沿（英文）, 2012,13(5):315-327. DOI： 10.1631/jzus.C1100243.

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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