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Handbook of Research on Design, Control, and Modeling of Swarm Robotics

Book Description

Studies on robotics applications have grown substantially in recent years, with swarm robotics being a relatively new area of research. Inspired by studies in swarm intelligence and robotics, swarm robotics facilitates interactions between robots as well as their interactions with the environment. The Handbook of Research on Design, Control, and Modeling of Swarm Robotics is a collection of the most important research achievements in swarm robotics thus far, covering the growing areas of design, control, and modeling of swarm robotics. This handbook serves as an essential resource for researchers, engineers, graduates, and senior undergraduates with interests in swarm robotics and its applications.

Table of Contents

  1. Cover
  2. Title Page
  3. Copyright Page
  4. Book Series
    1. Mission
    2. Coverage
  5. Editorial Advisory Board
  6. Preface
  7. Acknowledgment
  8. Section 1: Swarm Robotics: Survey and Security
    1. Chapter 1: A Survey on Swarm Robotics
      1. ABSTRACT
      2. INTRODUCTION
      3. BACKGROUND
      4. CHARACTERISTICS AND APPLICATION SCOPES OF SWARM ROBOTICS
      5. MODELING SWARM ROBOTICS
      6. ENTITY PROJECTS AND SIMULATIONS
      7. COOPERATIVE ALGORITHMS
      8. SWARM ROBOTICS SEARCHING ALGORITHMS
      9. CONCLUSION AND FUTURE RESEARCH DIRECTIONS
      10. REFERENCES
      11. KEY TERMS AND DEFINITIONS
    2. Chapter 2: Security in Swarm Robotics
      1. ABSTRACT
      2. INTRODUCTION
      3. BACKGROUND
      4. SECURE COMMUNICATIONS IN SWARMS
      5. RELATED TECHNOLOGIES
      6. EXTERNAL ADVERSARIES
      7. INTERNAL ADVERSARIES
      8. ADDRESSING CHALLENGES UNIQUE TO SWARM ROBOTIC NETWORKS
      9. FURTHER RESEARCH
      10. CONCLUSION
      11. REFERENCES
      12. KEY TERMS AND DEFINITIONS
  9. Section 2: Cooperative Movement and Control
    1. Chapter 3: Adaptive Self-Organizing Organisms Using A Bio-Inspired Gene Regulatory Network Controller
      1. ABSTRACT
      2. INTRODUCTION
      3. RELATED WORK AND SIMULATION ENVIRONMENT
      4. MATERIALS AND METHODS
      5. RESULTS
      6. CONCLUSION
      7. REFERENCES
      8. KEY TERMS AND DEFINITIONS
    2. Chapter 4: Aerial Robot Formation Control via Pigeon-Inspired Optimization
      1. ABSTRACT
      2. 1. INTRODUCTION
      3. 2. BACKGROUND
      4. 3. PIGEON INSPIRED OPTIMIZATION
      5. 4. AERIAL ROBOT PARAMETER OPTIMIZATION
      6. 5. AERIAL ROBOT FORMATION CONTROL
      7. 6. AERIAL ROBOT FORMATION RECONFIGURATION
      8. 7. FUTURE RESEARCH DIRECTIONS
      9. 8. CONCLUSION
      10. REFERENCES
      11. KEY TERMS AND DEFINITIONS
    3. Chapter 5: Distributed Control of Robot Swarms
      1. ABSTRACT
      2. INTRODUCTION
      3. BACKGROUND
      4. MAIN FOCUS OF THE CHAPTER
      5. SOLUTIONS AND RECOMMENDATIONS
      6. MOTION COORDINATION
      7. SIMULATIONS
      8. FUTURE RESEARCH DIRECTIONS
      9. CONCLUSION
      10. REFERENCES
      11. KEY TERMS AND DEFINITIONS
    4. Chapter 6: PHuNAC Model
      1. ABSTRACT
      2. INTRODUCTION
      3. BACKGROUND
      4. PROBLEMATIC
      5. PSYCHOLOGICAL STUDIES ABOUT PEDESTRIANS CROWD: HUMAN NATURE
      6. SWARM BEHAVIOR
      7. PHuNAC MODEL
      8. EXPERIMENTS
      9. FUTURE RESEARCH DIRECTIONS
      10. CONCLUSION
      11. REFERENCES
      12. KEY TERMS AND DEFINITIONS
      13. ENDNOTES
  10. Section 3: Space Deployment and Formation Control
    1. Chapter 7: Adaptive Swarm Coordination and Formation Control
      1. ABSTRACT
      2. 1. INTRODUCTION
      3. 2. PRELIMINARIES AND BACKGROUND
      4. 3. FORMATION CONTROL LITERATURE REVIEW
      5. 4. ADAPTIVE SWARM FORMATION CONTROL
      6. 5. A SAMPLE ADAPTIVE FORMATION CONTROL FRAMEWORK
      7. 6. CONCLUSION
      8. REFERENCES
      9. KEY TERMS AND DEFINITIONS
    2. Chapter 8: Distributed Algorithms for Swarm Robots
      1. ABSTRACT
      2. INTRODUCTION
      3. COMPUTATIONAL MODEL OF SWARM ROBOTS
      4. GEOMETRIC PROBLEMS RELATED TO SWARM ROBOTS
      5. FUTURE DIRECTION
      6. CONCLUSION
      7. ACKNOWLEDGMENT
      8. REFERENCES
      9. KEY TERMS AND DEFINITIONS
    3. Chapter 9: Shape Control of Robot Swarms with Multilevel-Based Topology Design
      1. ABSTRACT
      2. INTRODUCTION
      3. BACKGROUND
      4. CONTROLLER DESIGN
      5. SIMULATION AND EXPERIMENTAL VERIFICATIONS
      6. FUTURE RESEARCH DIRECTIONS
      7. CONCLUSION
      8. REFERENCES
      9. KEY TERMS AND DEFINITIONS
  11. Section 4: Path Planning
    1. Chapter 10: Adapting to the Traffic Swarm
      1. ABSTRACT
      2. INTRODUCTION
      3. BACKGROUND
      4. IMPLEMENTATION OF THE SWARM BEHAVIOUR MODULE
      5. FUTURE RESEARCH DIRECTIONS
      6. CONCLUSION
      7. REFERENCES
      8. KEY TERMS AND DEFINITIONS
    2. Chapter 11: Swarm Intelligent Optimization Algorithms and Its Application in Mobile Robot Path Planning
      1. ABSTRACT
      2. INTRODUCTION
      3. BASIC GRID PATH PLANNING METHOD
      4. ROBOT PATH PLANNING IN STATIC ENVIRONMENT
      5. ROBOT PATH PLANNING IN DYNAMIC ENVIRONMENT
      6. CONCLUSION
      7. REFERENCES
      8. KEY TERMS AND DEFINITIONS
    3. Chapter 12: An Adaptive Path Planning Based on Improved Fuzzy Neural Network for Multi-robot Systems
      1. ABSTRACT
      2. INTRODUCTION
      3. BACKGROUND
      4. OVERALL STRUCTURE OF THE ALGORITHM
      5. ADAPTIVE ALGORITHM BASED ON IMPROVED FNN
      6. THE SIMULATION EXPERIMENTS AND ANALYSIS
      7. CONCLUSION
      8. REFERENCES
      9. KEY TERMS AND DEFINITIONS
  12. Section 5: Stationary Target Searching
    1. Chapter 13: An Overview of Swarm Robotics for Search and Rescue Applications
      1. ABSTRACT
      2. INTRODUCTION
      3. DISCUSSION
      4. CONCLUSION AND FUTURE WORK
      5. REFERENCES
      6. KEY TERMS AND DEFINITIONS
      7. ENDNOTES
    2. Chapter 14: Multi-Robot Swarm for Cooperative Scalar Field Mapping
      1. ABSTRACT
      2. INTRODUCTION
      3. SYSTEM MODELING
      4. COOPERATIVE SENSING
      5. COOPERATIVE CONTROL
      6. EXPERIMENTAL RESULTS OF SCALAR FIELD MAPPING
      7. CONCLUSION
      8. REFERENCES
      9. KEY TERMS AND DEFINITIONS
  13. Section 6: Moving Target Searching and Tracking
    1. Chapter 15: Mobile Target Tracking of Swarm Robotics in Unknown Obstructive Environment
      1. ABSTRACT
      2. INTRODUCTION
      3. 1. RELATED WORKS
      4. 2. THE MOBILE TARGET TRACKING PROBLEM
      5. 3. THE SPRING VIRTUAL FORCE MODEL
      6. 4. EXPERIMENTAL SETUP
      7. 5. SIMULATION RESULT AND DISCUSSION
      8. 6. FUTURE RESEARCH DIRECTIONS
      9. 7. CONCLUSION AND FUTURE WORKS
      10. ACKNOWLEDGMENT
      11. REFERENCES
      12. KEY TERMS AND DEFINITIONS
    2. Chapter 16: Chemical Plume Tracing and Mapping via Swarm Robots
      1. ABSTRACT
      2. INTRODUCTION
      3. PLUME MODELS, ALGORITHM DESIGN, AND EVALUATION
      4. CHEMICAL PLUME TRACERS
      5. EXPERIMENTS OF CPT MISSIONS
      6. FUTURE RESEARCH DIRECTIONS
      7. CONCLUSION
      8. REFERENCES
      9. KEY TERMS AND DEFINITIONS
    3. Chapter 17: Modelling and Simulation Platform for Chemical Plume Tracking and Source Localization
      1. ABSTRACT
      2. INTRODUCTION
      3. MODELLING
      4. SIMULATION
      5. MODELLING AND SIMULATION PLATFORM VERIFICATION
      6. FUTURE RESEARCH DIRECTIONS
      7. CONCLUSION
      8. REFERENCES
      9. KEY TERMS AND DEFINITIONS
  14. Section 7: Stochastic Modeling
    1. Chapter 18: Macroscopic Group Robots Inspired By “Brownian Motion”
      1. ABSTRACT
      2. INTRODUCTION
      3. BACKGROUND
      4. “BROWNIAN MOTION” BY MACROSCOPIC GROUP ROBOTS
      5. CONTINUUM MECHANICAL DESCRIPTION OF GROUP ROBOTS
      6. COLLISION PROCESS OF ROBOTS AND OBJECT
      7. SIMULATION
      8. CONTROLLING BROWNIAN MOTION OF GROUP ROBOTS
      9. FUTURE RESEARCH DIRECTIONS
      10. CONCLUSION
      11. REFERENCES
      12. KEY TERMS AND DEFINITIONS
    2. Chapter 19: Opportunistic Model for Multi-Robot Coordination
      1. ABSTRACT
      2. INTRODUCTION
      3. BACKGROUND
      4. MAIN FOCUS OF THE CHAPTER
      5. SOLUTIONS AND RECOMMENDATIONS
      6. FUTURE RESEARCH DIRECTIONS
      7. CONSIDERATION ON REAL SYSTEM IMPLEMENTATION
      8. CONCLUSION
      9. REFERENCES
      10. KEY TERMS AND DEFINITIONS
  15. Section 8: Cooperative Operation and Partner Recruitment
    1. Chapter 20: Flexible and Hybrid Action Selection Process for the Control of Highly Dynamic Multi-Robot Systems
      1. ABSTRACT
      2. 1. INTRODUCTION
      3. 2. THE HIERARCHICAL ACTION SELECTION PROCESS
      4. 3. THE HASP APPLIED TO MULTI-ROBOT TASK
      5. 4. THE HYBRID-HASP
      6. 5. EXPERIMENTAL ASPECTS
      7. 6. CONCLUSION AND FURTHER WORKS
      8. REFERENCES
      9. KEY TERMS AND DEFINITIONS
      10. ENDNOTES
    2. Chapter 21: Distributed Algorithms for Recruitment and Coordinated Motion in Swarm Robotic Systems
      1. ABSTRACT
      2. INTRODUCTION
      3. BACKGROUND
      4. ROBOTIC DISTRIBUTED SYSTEMS
      5. ROBOT TASKS DESCRIPTION
      6. EXPERIMENTS
      7. FUTURE RESEARCH DIRECTIONS
      8. CONCLUSION
      9. REFERENCES
      10. KEY TERMS AND DEFINITIONS
  16. Section 9: Human-Swarm Interaction
    1. Chapter 22: Using Haptic Feedback in Human-Swarm Interaction
      1. ABSTRACT
      2. INTRODUCTION
      3. BACKGROUND
      4. USER STUDIES
      5. DISCUSSION
      6. CONCLUSIONS AND FUTURE WORK
      7. ACKNOWLEDGMENT
      8. REFERENCES
      9. KEY TERMS AND DEFINITIONS
    2. Chapter 23: A Distributed Framework and Consensus Middle-Ware for Human Swarm Interaction
      1. ABSTRACT
      2. INTRODUCTION
      3. RELATED WORK
      4. SYSTEM DESIGN AND IMPLEMENTATION
      5. SOFTWARE IMPLEMENTATION
      6. EXPERIMENTAL SETUP AND RESULTS
      7. CONCLUSION
      8. ACKNOWLEDGMENT
      9. REFERENCES
      10. KEY TERMS AND DEFINITIONS
    3. Chapter 24: Design and Implementation for Controlling Multiple Robotic Systems by a Single Operator under Random Communication Delays
      1. ABSTRACT
      2. INTRODUCTION
      3. BACKGROUND
      4. MAIN FOCUS OF THE CHAPTER
      5. SINGLE-OPERATOR-MULTI-ROBOT (SOMR) TELE-OPERATION SYSTEM ARCHITECTURE
      6. SOMR TELE-OPERATION SYSTEM WITH COMMUNICATION DELAYS
      7. SYSTEM STABILITY ANALYSIS
      8. DESIGN PROCEDURES FOR SOMR TELEOPERATION SYSTEM
      9. EXPERIMENTAL IMPLEMENTATION AND RESULTS
      10. FUTURE RESEARCH DIRECTION
      11. CONCLUSION
      12. REFERENCES
      13. KEY TERMS AND DEFINITIONS
  17. Section 10: Typical Application of Swarm Robotics
    1. Chapter 25: Cockroach Inspired Shelter Seeking for Holonomic Swarms of Flying Robots
      1. ABSTRACT
      2. INTRODUCTION
      3. RELATED WORK
      4. SHELTER SEEKING MECHANISM
      5. EXPERIMENT DESIGN AND RESULTS
      6. CONCLUSION
      7. FUTURE RESEARCH
      8. ACKNOWLEDGMENT
      9. REFERENCES
      10. KEY TERMS AND DEFINITIONS
    2. Chapter 26: Underwater Swarm Robotics
      1. ABSTRACT
      2. INTRODUCTION
      3. BACKGROUND
      4. SWARM ROBOTICS APPLICATIONS
      5. SWARM ROBOT PLATFORM
      6. SENSORS
      7. PROBLEMS WITH UNDERWATER COMMUNICATION
      8. UNDERWATER LOCALISATION
      9. CONSENSUS CONTROL
      10. FUTURE RESEARCH DIRECTION
      11. CONCLUSION
      12. REFERENCES
      13. ADDITIONAL READING
      14. KEY TERMS AND DEFINITIONS
    3. Chapter 27: Techniques in Multi-Robot Area Coverage
      1. ABSTRACT
      2. INTRODUCTION
      3. ROBOTS AND THEIR CHARACTERISTICS
      4. EXISTING MODELS
      5. DISTRIBUTED AREA COVERAGE
      6. SINGLE ROBOT AREA COVERAGE
      7. MULTI ROBOT AREA COVERAGE
      8. TEAM BASED APPROACH
      9. INDIVIDUAL APPROACH
      10. A COMPARATIVE STUDY
      11. CONCLUSION
      12. REFERENCES
      13. KEY TERMS AND DEFINITIONS
  18. Compilation of References
  19. About the Contributors