RFID-based Communications for a Self-Organising Robot Swarm

Author

Tammet, Tanel ; Vain, Jüri ; Puusepp, Andres ; Reilent, Enar ; Kuusik, Alar

Author_Institution

Dept. of Comput. Sci., Tallinn Univ. of Technol., Tallinn

fYear

2008

fDate

20-24 Oct. 2008

Firstpage

45

Lastpage

54

Abstract

We investigate the practical questions of building a self-organizing robot swarm, using the iRobot Roomba cleaning robot as an experimental platform. Our goal is to employ self-organization for enhancing the cleaning efficiency of a Roomba swarm. The implementation uses RFID tags both for object and location-based task recognition as well as graffiti- or stigmata-style communication between robots.Easily modifiable rule systems are used for object ontologies and automatic task generation. Long-term planning and central coordination are avoided.

Keywords

multi-robot systems; ontologies (artificial intelligence); planning (artificial intelligence); radiofrequency identification; self-adjusting systems; RFID-based communications; automatic task generation; central coordination; graffiti-style communication; iRobot Roomba cleaning robot; location-based task recognition; long-term planning; object ontologies; self-organising robot swarm; stigmata-style communication; Cleaning; Computer architecture; Distributed computing; Humans; Intelligent robots; Ontologies; RFID tags; Radiofrequency identification; Robot kinematics; Robotics and automation; RFID; automated reasoning; ontology; robot swarm; semantic web;

fLanguage

English

Publisher

ieee

Conference_Titel

Self-Adaptive and Self-Organizing Systems, 2008. SASO '08. Second IEEE International Conference on

Conference_Location

Venezia

Print_ISBN

978-0-7695-3404-6

Type

conf

DOI

10.1109/SASO.2008.62

Filename

4663409