Implementation and Modeling of Robot Aggregation Behavior in Webots - - PowerPoint PPT Presentation

Implementation and Modeling

• f Robot Aggregation Behavior

in Webots

Todesco Laetitia & Rappo Claudia Supervisor: Correll Nikolaus

January 9, 2006

Outline

• Introduction to aggregation
• Modeling robot aggregation in Webots
• Results of the different simulations

– Variations of stopping probability – Variations of sensor range

• Conclusion

Aggregation

• Widely observable phenomena
• Two types of aggregation:

– Due to environmental impact – Social interactions between members of the group

• Our study concentraded on modeling and

implementing aggregation behavior in Webots.

Modeling aggregation

This will be the referential setting throughout our experiments, which is based on the paper on “self-organized aggregation in cockroaches” (Deneubourg, 2004)

Studying the impact of different parameters (1/2)

1. Probability of stopping

3 different configurations:

• Low probability
• Reference
• High probability

Results (1/2)

legend: In red: simulation with “low probability”, in green: simulation with “high probability” and in blue: simulation reference.

Poor performance of the two different settings compared to reference

Studying the impact of different parameters (2/2)

• 2. Variations of sensor range

5 different configurations:

• 2.0 cm
• 3.5 cm
• 5.0 cm
• 7.0 cm (Reference)
• 10.0 cm

sensor range

Results (2/2)

Some indications: red: 2.0, light blue: 3.5, purple: 5.0, dark blue: ref, and green:10.0

Better performance (especially sensor range 5.0 cm) of the different settings compared to reference.

Conclusion

• Changing the different parameters didn’t

improve performance

• ‘Nature’ (reference) solves the

aggregation problem in the best way

• More extensive testing should be

undertaken

References [1] Jeanson R., Rivault C., Deneubourg J-L., Blanco S., Fournier R., Jost C.,Theraulaz G., « Self-organized aggregation in cockroaches », Elsevier Ltd., November 2004