Optimization of Stochastic Strategies for Spatially Inhomogeneous Robot Swarms: A Case Study in Commercial Pollination

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Optimization of Stochastic Strategies for Spatially Inhomogeneous Robot Swarms: A Case Study in Commercial Pollination

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Title: Optimization of Stochastic Strategies for Spatially Inhomogeneous Robot Swarms: A Case Study in Commercial Pollination
Author: Nagpal, Radhika; Berman, Spring; Halász, Ádám

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Citation: Berman, Spring, Radhika Nagpal, and Ádám Halász. 2011. Optimization of stochastic strategies for spatially inhomogeneous robot swarms: a case study in commercial pollination. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'11): September 25-30, San Francisco, CA, 3923-3930. Los Alamitos, Calif: IEEE Computer Society Press.
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Abstract: We present a scalable approach to optimizing robot control policies for a target collective behavior in a spatially inhomogeneous robotic swarm. The approach can incorporate robot feedback to maintain system performance in an unknown environmental flow field. We consider systems in which the robots follow both deterministic and random motion and transition stochastically between tasks. Our methodology is based on an abstraction of the swarm to a macroscopic continuous model, whose dimensionality is independent of the population size, that describes the expected time evolution of swarm subpopulations over a discretization of the environment. We incorporate this model into a stochastic optimization method and map the optimized model parameters onto the robot motion and task transition control policies to achieve a desired global objective. We illustrate our methodology with a scenario in which the behaviors of a swarm of robotic bees are optimized for both uniform and nonuniform pollination of a blueberry field, including in the presence of an unknown wind.
Published Version: dx.doi.org/10.1109/IROS.2011.6094771
Other Sources: http://www.eecs.harvard.edu/ssr/papers/iros11-berman.pdf
Terms of Use: This article is made available under the terms and conditions applicable to Open Access Policy Articles, as set forth at http://nrs.harvard.edu/urn-3:HUL.InstRepos:dash.current.terms-of-use#OAP
Citable link to this page: http://nrs.harvard.edu/urn-3:HUL.InstRepos:8955688

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  • FAS Scholarly Articles [7470]
    Peer reviewed scholarly articles from the Faculty of Arts and Sciences of Harvard University
 
 

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