Kavli Affiliate: L. Mahadevan
| First 5 Authors: Fabio Giardina, S Ganga Prasath, L Mahadevan, ,
| Summary:
Cooperative task execution, a hallmark of eusociality, is enabled by local
interactions between the agents and the environment through a dynamically
evolving communication signal. Inspired by the collective behavior of social
insects whose dynamics is modulated by interactions with the environment, we
show that a robot collective can successfully nucleate a construction site via
a trapping instability and cooperatively build organized structures. The same
robot collective can also perform de-construction with a simple change in the
behavioral parameter. These behaviors belong to a two-dimensional phase space
of cooperative behaviors defined by agent-agent interaction (cooperation) along
one axis and the agent-environment interaction (collection and deposition) on
the other. Our behavior-based approach to robot design combined with a
principled derivation of local rules enables the collective to solve tasks with
robustness to a dynamically changing environment and a wealth of complex
behaviors.
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