Extending the RoboCup Rescue to Support Stigmergy: Experiments and Results
Resumo
Social insects have inspired researches in computer sciences as well as engineers to develop models for coordination and cooperation in multiagent systems. One example of these models is the model of stigmergy. In this model agents use indirect communication (communication trough the environment) in order to coordinate actions. The RoboCup Rescue simulator is used as a testbed to evaluate this model in a real world considering a highly constrained scenario of an earthquake. This paper investigates the feasibility of using stigmergy in the RoboCup Rescue and the improvements of performance that the agents can be led to. We extended the RoboCup Rescue environment to enable the use of stigmergy by the agents in it. Experimental results shown that the use of stigmergy leads to an improvement on agents’ performance by 11.5% to 26%, depending on the scenario.Referências
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Paulo Roberto Ferreira, Jr., Fernando dos Santos, Ana L. C. Bazzan, Daniel Epstein, and Samuel J. Waskow. Robocup rescue as multiagent task allocation among teams: experiments with task interdependencies. Autonomous Agents and Multi-Agent Systems, 20:421–443, May 2010.
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Yan Meng, O. Kazeem, and J.C. Muller. A hybrid aco/pso control algorithm for distributed swarm robots. In Swarm Intelligence Symposium, 2007. SIS 2007. IEEE, pages 273–280, 2007.
David Payton, Regina Estkowski, and Mike Howard. Compound behaviors in pheromone robotics. Robotics and Autonomous Systems, 44(3–4):229–240, 2003.
Vagelis Plevris, Matthew G. Karlaftis, and Nikos D. Lagaros. A swarm intelligence approach for emergency infrastructure inspection scheduling. In Kasthurirangan Gopalakrishnan and Srinivas Peeta, editors, Sustainable and Resilient Critical Infrastructure Systems, volume 1, pages 201–230. Springer Berlin, Berlin, 2010.
A.H. Purnamadjaja and R.A. Russell. Pheromone communication: implementation of necrophoric bee behaviour in a robot swarm. In Robotics, Automation and Mechatronics, 2004 IEEE Conference on, volume 2, pages 638–643, 2004.
Fernando dos Santos and Ana L. C. Bazzan. Towards efficient multiagent task allocation in the robocup rescue: a biologically-inspired approach. Autonomous Agents and Multi-Agent Systems, 22:465–486, May 2011.
Olivier Simonin and Franc¸ois Charpillet. Indirect cooperation between mobile robots through an active environment. In 5th National Conference on ”Control Architecture of Robots”, pages 71–80, 2010.
C. Skinner and M. Barley. Robocup rescue simulation competition: Status report. In Ansgar Bredenfeld, Adam Jacoff, Itsuki Noda, and Yasutake Takahashi, editors, RoboCup 2005: Robot Soccer World Cup IX, volume 4020 of Lecture Notes in Computer Science, pages 632–639. Springer-Verlag, Berlin, 2006.
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J. L. Deneubourg, S. Aron, S. Goss, and J. M. Pasteels. The self-organizing exploratory pattern of the argentine ant. Journal of Insect Behavior, 3:159–168, 1990.
Marco Dorigo, Vittorio Maniezzo, and Alberto Colorni. Positive feedback as a search strategy. Technical Report 91–016, Politecnico di Milano, 1991.
Paulo R. Ferreira, Jr., Felipe Boffo, and Ana L. C. Bazzan. A swarm based approximated algorithm to the extended generalized assignment problem (E-GAP). In Proceedings of the 6th International Joint Conference on Autonomous Agents And Multiagent Systems (AAMAS), pages 1231–1233, May 2007.
Paulo Roberto Ferreira, Jr., Fernando dos Santos, Ana L. C. Bazzan, Daniel Epstein, and Samuel J. Waskow. Robocup rescue as multiagent task allocation among teams: experiments with task interdependencies. Autonomous Agents and Multi-Agent Systems, 20:421–443, May 2010.
N.R. Hoff, A. Sagoff, R.J. Wood, and R. Nagpal. Two foraging algorithms for robot swarms using only local communication. In Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on, pages 123 –130, 2010.
N. Jennings, K. Sycara, and M. Wooldrige. A roadmap of agent research and development. Autonmous Agents and Multi-Agent Systems, (1):7–38, 1998.
H. Kitano, S. Tadokoro, I. Noda, H. Matsubara, T. Takahashi, A. Shinjou, and S. Shimada. Robocup rescue: search and rescue in large-scale disasters as adomain for autonomous agents research. In Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics (SMC), volume 6, pages 739–743, Tokyo, Japan, October 1999. IEEE.
Yan Meng, O. Kazeem, and J.C. Muller. A hybrid aco/pso control algorithm for distributed swarm robots. In Swarm Intelligence Symposium, 2007. SIS 2007. IEEE, pages 273–280, 2007.
David Payton, Regina Estkowski, and Mike Howard. Compound behaviors in pheromone robotics. Robotics and Autonomous Systems, 44(3–4):229–240, 2003.
Vagelis Plevris, Matthew G. Karlaftis, and Nikos D. Lagaros. A swarm intelligence approach for emergency infrastructure inspection scheduling. In Kasthurirangan Gopalakrishnan and Srinivas Peeta, editors, Sustainable and Resilient Critical Infrastructure Systems, volume 1, pages 201–230. Springer Berlin, Berlin, 2010.
A.H. Purnamadjaja and R.A. Russell. Pheromone communication: implementation of necrophoric bee behaviour in a robot swarm. In Robotics, Automation and Mechatronics, 2004 IEEE Conference on, volume 2, pages 638–643, 2004.
Fernando dos Santos and Ana L. C. Bazzan. Towards efficient multiagent task allocation in the robocup rescue: a biologically-inspired approach. Autonomous Agents and Multi-Agent Systems, 22:465–486, May 2011.
Olivier Simonin and Franc¸ois Charpillet. Indirect cooperation between mobile robots through an active environment. In 5th National Conference on ”Control Architecture of Robots”, pages 71–80, 2010.
C. Skinner and M. Barley. Robocup rescue simulation competition: Status report. In Ansgar Bredenfeld, Adam Jacoff, Itsuki Noda, and Yasutake Takahashi, editors, RoboCup 2005: Robot Soccer World Cup IX, volume 4020 of Lecture Notes in Computer Science, pages 632–639. Springer-Verlag, Berlin, 2006.
M. J. Wooldridge. An Introduction to MultiAgent Systems. John Wiley & Sons, Chichester, 2002.
Publicado
02/05/2012
Como Citar
JACOBSEN, Gabriel R. C.; BARTH, Carlos A.; SANTOS, Fernando dos.
Extending the RoboCup Rescue to Support Stigmergy: Experiments and Results. In: WORKSHOP-ESCOLA DE SISTEMAS DE AGENTES, SEUS AMBIENTES E APLICAÇÕES (WESAAC), 6. , 2012, Florianópolis/SC.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
2012
.
p. 47-56.
ISSN 2326-5434.
DOI: https://doi.org/10.5753/wesaac.2012.33134.
