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Proceedings Paper

Pheromone robotics
Author(s): David W. Payton; Michael J. Daily; Bruce Hoff; Michael D. Howard; Craig L. Lee
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Paper Abstract

We describe techniques for coordinating the actions of large numbers of small-scale robots to achieve useful large-scale results in surveillance, reconnaissance, hazard detection, and path finding. Inspired by the chemical markers used by insects for communication and coordination, we exploit the notion of a “virtual pheromone,” implemented using simple beacons and directional sensors mounted on each robot. Virtual pheromones facilitate simple communication and coordination and require little on-board processing. Our virtual pheromone technique enables a robot collective to become a distributed computing mesh embedded within the environment, while simultaneously acting as a physical embodiment of the user interface. This leads to notions of world embedded computation and world embedded interfaces that provide new ways to think about robot colonies.

Paper Details

Date Published: 2 March 2001
PDF: 9 pages
Proc. SPIE 4195, Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, (2 March 2001); doi: 10.1117/12.417331
Show Author Affiliations
David W. Payton, HRL Labs., LLC (United States)
Michael J. Daily, HRL Labs., LLC (United States)
Bruce Hoff, BioDiscovery, Inc. (United States)
Michael D. Howard, HRL Labs., LLC (United States)
Craig L. Lee, HRL Labs., LLC (United States)


Published in SPIE Proceedings Vol. 4195:
Mobile Robots XV and Telemanipulator and Telepresence Technologies VII
Matthew R. Stein; Howie M. Choset; Douglas W. Gage; Matthew R. Stein, Editor(s)

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