Towards a swarm robotic approach for cooperative object recognition

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King, D., 2012. Towards a swarm robotic approach for cooperative object recognition. PhD, Nottingham Trent University.

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Abstract

Social insects have inspired the behaviours of swarm robotic systems for the last 20 years. Interactions of the simple individuals in these swarms form solutions to relatively complex problems. A novel swarm robotic method is investigated for future robotic cooperative object recognition tasks. Previous multi-agent systems involve cameras and image analyses to identify objects. They cooperate only to improve their hypotheses of the shape's identity. The system proposed uses agents whose interactions with each other around the physical boundaries of the object's shape allow the distinguishing features found. The agents are a physical embodiment of the vision system, making them suitable for environments where it would not be possible to use a camera. A Simplified Hexagonal Model was developed to simulate and examine the strategies. The hexagonal cells of which can be empty, contain an agent (hBot) or part of an object shape. Initially the hBots are required to identify the valid object shapes from a set of two types of known shapes. To do this the hBots change state when in contact with an object and when touching other hBots of the same state level, where some states are only achieved when neighbouring certain object shapes. The agents are oblivious, anonymous and homogeneous. They also do not know their position or orientation and cannot distinguish between object shapes alone due to their limited sensor range. Further work increased the number of object shapes to provide a range of scenarios.

Item Type:	Thesis
Creators:	King, D.
Date:	2012
Rights:	This work is the intellectual property of the author. You may copy up to 5% of this work for private study, or personal, non-commercial research. Any re-use of the information contained within this document should be fully referenced, quoting the author, title, university, degree level and pagination. Queries or requests for any other use, or if a more substantial copy is required, should be directed in the owner(s) of the Intellectual Property Rights.
Divisions:	Schools > School of Architecture, Design and the Built Environment
Record created by:	EPrints Services
Date Added:	09 Oct 2015 09:33
Last Modified:	09 Oct 2015 09:33
URI:	https://irep.ntu.ac.uk/id/eprint/62