Hierarchical self-organization for task-oriented swarm robotics

Yuquan Leng; Cen Yu; Wei Zhang; Yang Zhang; Xu He; Weijia Zhou

doi:10.1007/978-3-319-20466-6_57

Hierarchical self-organization for task-oriented swarm robotics

Yuquan Leng
, Cen Yu
, Wei Zhang
, Yang Zhang^*
, Xu He
, Weijia Zhou

^*Corresponding author for this work

CAS - Shenyang Institute of Automation
University of Chinese Academy of Sciences
Anhui Xinhe Defense Equipment Technology Corporation Limited

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

The problems of diversity of tasks and non-structural environment have been put in front of robotic development, on the other hand, we urgently hope they consume low cost and have high reliability, so the method of multicooperation is wildly used. Then we would get the swarm robotics social system with the individual growing. In this paper, we proposed hierarchical organizational model to definite social order during task decomposition; then, we design the method of behavior generation based on proposition/transition Petri networks, which would assist the system to construct combined behavior using the sample individual behavior to solve a variety of tasks.

Original language	English
Title of host publication	Advances in Swarm and Computational Intelligence - 6th International Conference, ICSI 2015 held in conjunction with the 2nd BRICS Congress, CCI 2015, Proceedings
Editors	Alexander Gelbukh, Ying Tan, Swagatam Das, Andries Engelbrecht, Fernando Buarque, Yuhui Shi
Publisher	Springer Verlag
Pages	543-550
Number of pages	8
ISBN (Print)	9783319204659
DOIs	https://doi.org/10.1007/978-3-319-20466-6_57
State	Published - 2015
Externally published	Yes
Event	6th International Conference on Swarm Intelligence, ICSI 2015 held in conjunction with the 2nd BRICS Congress on Computational Intelligence, CCI 2015 - Beijing, China Duration: 25 Jun 2015 → 28 Jun 2015

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	9140
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	6th International Conference on Swarm Intelligence, ICSI 2015 held in conjunction with the 2nd BRICS Congress on Computational Intelligence, CCI 2015
Country/Territory	China
City	Beijing
Period	25/06/15 → 28/06/15

Keywords

Hierarchical self-organization
Swarm robotics
Task-oriented

Access to Document

10.1007/978-3-319-20466-6_57

Cite this

Leng, Y., Yu, C., Zhang, W., Zhang, Y., He, X., & Zhou, W. (2015). Hierarchical self-organization for task-oriented swarm robotics. In A. Gelbukh, Y. Tan, S. Das, A. Engelbrecht, F. Buarque, & Y. Shi (Eds.), Advances in Swarm and Computational Intelligence - 6th International Conference, ICSI 2015 held in conjunction with the 2nd BRICS Congress, CCI 2015, Proceedings (pp. 543-550). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9140). Springer Verlag. https://doi.org/10.1007/978-3-319-20466-6_57

Leng, Yuquan ; Yu, Cen ; Zhang, Wei et al. / Hierarchical self-organization for task-oriented swarm robotics. Advances in Swarm and Computational Intelligence - 6th International Conference, ICSI 2015 held in conjunction with the 2nd BRICS Congress, CCI 2015, Proceedings. editor / Alexander Gelbukh ; Ying Tan ; Swagatam Das ; Andries Engelbrecht ; Fernando Buarque ; Yuhui Shi. Springer Verlag, 2015. pp. 543-550 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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abstract = "The problems of diversity of tasks and non-structural environment have been put in front of robotic development, on the other hand, we urgently hope they consume low cost and have high reliability, so the method of multicooperation is wildly used. Then we would get the swarm robotics social system with the individual growing. In this paper, we proposed hierarchical organizational model to definite social order during task decomposition; then, we design the method of behavior generation based on proposition/transition Petri networks, which would assist the system to construct combined behavior using the sample individual behavior to solve a variety of tasks.",

keywords = "Hierarchical self-organization, Swarm robotics, Task-oriented",

author = "Yuquan Leng and Cen Yu and Wei Zhang and Yang Zhang and Xu He and Weijia Zhou",

note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2015.; 6th International Conference on Swarm Intelligence, ICSI 2015 held in conjunction with the 2nd BRICS Congress on Computational Intelligence, CCI 2015 ; Conference date: 25-06-2015 Through 28-06-2015",

year = "2015",

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language = "英语",

isbn = "9783319204659",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

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pages = "543--550",

editor = "Alexander Gelbukh and Ying Tan and Swagatam Das and Andries Engelbrecht and Fernando Buarque and Yuhui Shi",

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Leng, Y, Yu, C, Zhang, W, Zhang, Y, He, X & Zhou, W 2015, Hierarchical self-organization for task-oriented swarm robotics. in A Gelbukh, Y Tan, S Das, A Engelbrecht, F Buarque & Y Shi (eds), Advances in Swarm and Computational Intelligence - 6th International Conference, ICSI 2015 held in conjunction with the 2nd BRICS Congress, CCI 2015, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 9140, Springer Verlag, pp. 543-550, 6th International Conference on Swarm Intelligence, ICSI 2015 held in conjunction with the 2nd BRICS Congress on Computational Intelligence, CCI 2015, Beijing, China, 25/06/15. https://doi.org/10.1007/978-3-319-20466-6_57

Hierarchical self-organization for task-oriented swarm robotics. / Leng, Yuquan; Yu, Cen; Zhang, Wei et al.
Advances in Swarm and Computational Intelligence - 6th International Conference, ICSI 2015 held in conjunction with the 2nd BRICS Congress, CCI 2015, Proceedings. ed. / Alexander Gelbukh; Ying Tan; Swagatam Das; Andries Engelbrecht; Fernando Buarque; Yuhui Shi. Springer Verlag, 2015. p. 543-550 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9140).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Hierarchical self-organization for task-oriented swarm robotics

AU - Leng, Yuquan

AU - Yu, Cen

AU - Zhang, Wei

AU - Zhang, Yang

AU - He, Xu

AU - Zhou, Weijia

N1 - Publisher Copyright: © Springer International Publishing Switzerland 2015.

PY - 2015

Y1 - 2015

N2 - The problems of diversity of tasks and non-structural environment have been put in front of robotic development, on the other hand, we urgently hope they consume low cost and have high reliability, so the method of multicooperation is wildly used. Then we would get the swarm robotics social system with the individual growing. In this paper, we proposed hierarchical organizational model to definite social order during task decomposition; then, we design the method of behavior generation based on proposition/transition Petri networks, which would assist the system to construct combined behavior using the sample individual behavior to solve a variety of tasks.

AB - The problems of diversity of tasks and non-structural environment have been put in front of robotic development, on the other hand, we urgently hope they consume low cost and have high reliability, so the method of multicooperation is wildly used. Then we would get the swarm robotics social system with the individual growing. In this paper, we proposed hierarchical organizational model to definite social order during task decomposition; then, we design the method of behavior generation based on proposition/transition Petri networks, which would assist the system to construct combined behavior using the sample individual behavior to solve a variety of tasks.

KW - Hierarchical self-organization

KW - Swarm robotics

KW - Task-oriented

UR - https://www.scopus.com/pages/publications/84947798917

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DO - 10.1007/978-3-319-20466-6_57

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SN - 9783319204659

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 543

EP - 550

BT - Advances in Swarm and Computational Intelligence - 6th International Conference, ICSI 2015 held in conjunction with the 2nd BRICS Congress, CCI 2015, Proceedings

A2 - Gelbukh, Alexander

A2 - Tan, Ying

A2 - Das, Swagatam

A2 - Engelbrecht, Andries

A2 - Buarque, Fernando

A2 - Shi, Yuhui

PB - Springer Verlag

T2 - 6th International Conference on Swarm Intelligence, ICSI 2015 held in conjunction with the 2nd BRICS Congress on Computational Intelligence, CCI 2015

Y2 - 25 June 2015 through 28 June 2015

ER -

Leng Y, Yu C, Zhang W, Zhang Y, He X, Zhou W. Hierarchical self-organization for task-oriented swarm robotics. In Gelbukh A, Tan Y, Das S, Engelbrecht A, Buarque F, Shi Y, editors, Advances in Swarm and Computational Intelligence - 6th International Conference, ICSI 2015 held in conjunction with the 2nd BRICS Congress, CCI 2015, Proceedings. Springer Verlag. 2015. p. 543-550. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-319-20466-6_57

Hierarchical self-organization for task-oriented swarm robotics

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