Process-oriented subsumption architectures in swarm robotic systems

Jeremy C. Posso; Adam T. Sampson; Jonathan Simpson; Jon Timmis

doi:10.3233/978-1-60750-774-1-303

Process-oriented subsumption architectures in swarm robotic systems

Jeremy C. Posso, Adam T. Sampson, Jonathan Simpson, Jon Timmis^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Chapter (peer-reviewed) › peer-review

Abstract

Previous work has demonstrated the feasibility of using process-oriented programming to implement simple subsumption architectures for robot control. However, the utility and scalability of process-based subsumption architectures for more complex tasks and those involving multiple robots has not been proven.We report our experience of applying these techniques to the implementation of a standard foraging problem in swarm robotics, using occam-π to implement a subsumption control system. Through building a system with a realistic level of complexity, we have discovered both advantages and disadvantages to the process-oriented subsumption approach for larger robot control systems.

Original language	English
Title of host publication	Communicating Process Architectures 2011
Publisher	IOS Press
Pages	303-316
Number of pages	14
Volume	68
ISBN (Electronic)	9781607507741
ISBN (Print)	9781607507734
DOIs	https://doi.org/10.3233/978-1-60750-774-1-303
Publication status	Published - 2011

Keywords

Process-oriented
Robotics
Subsumption
Swarm robotics

ASJC Scopus subject areas

General Computer Science
General Engineering

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10.3233/978-1-60750-774-1-303

Cite this

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AU - Simpson, Jonathan

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AB - Previous work has demonstrated the feasibility of using process-oriented programming to implement simple subsumption architectures for robot control. However, the utility and scalability of process-based subsumption architectures for more complex tasks and those involving multiple robots has not been proven.We report our experience of applying these techniques to the implementation of a standard foraging problem in swarm robotics, using occam-π to implement a subsumption control system. Through building a system with a realistic level of complexity, we have discovered both advantages and disadvantages to the process-oriented subsumption approach for larger robot control systems.

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KW - Robotics

KW - Subsumption

KW - Swarm robotics

UR - https://www.scopus.com/pages/publications/79959337957

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Process-oriented subsumption architectures in swarm robotic systems

Abstract

Keywords

ASJC Scopus subject areas

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