A bio-inspired mobile agent-based coalition formation system for multiple modular-robot systems

Author

Binsen Qian ; Cheng, H.H.

Author_Institution

Dept. of Mech. & Aerosp. Eng., Univ. of California, Davis, Davis, CA, USA

fYear

2014

fDate

10-12 Sept. 2014

Firstpage

1

Lastpage

6

Abstract

This paper presents bio-inspired algorithms for coalition formation of a mobile agent-based modular robot system. A mathematical model for coalition formation is described. Two bio-inspired algorithms, ant-colony algorithm and genetic algorithm, are introduced for solving the mathematical model. Multiple experiments were run and the final results are shown in both mathematically and graphically. The graphical simulation is implemented by RoboSim which is built atop Ch, a C/C++ interpreter providing powerful features for solving engineering problems. The performance of both algorithms is shown by comparing different scenarios.

Keywords

C++ language; ant colony optimisation; control system analysis computing; genetic algorithms; mobile robots; position control; program interpreters; C/C++ interpreter; Ch; RoboSim; ant-colony algorithm; bioinspired mobile agent; coalition formation system; engineering problems; genetic algorithm; graphical simulation; mathematical model; modular-robot systems; Algorithm design and analysis; Genetic algorithms; Layout; Mathematical model; Mobile robots; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronic and Embedded Systems and Applications (MESA), 2014 IEEE/ASME 10th International Conference on

Conference_Location

Senigallia

Print_ISBN

978-1-4799-2772-2

Type

conf

DOI

10.1109/MESA.2014.6935602

Filename

6935602