Outputs (80)

A macroscopic probabilistic model of adaptive foraging in swarm robotics systems (2009)
Presentation / Conference Contribution

In this paper, we extend a macroscopic probabilistic model of a swarm of foraging robots from the homogeneous to the heterogeneous case. In the swarm, each robot is capable of adjusting its searching time and resting time thresholds following the rul... Read More about A macroscopic probabilistic model of adaptive foraging in swarm robotics systems.

Modelling a wireless connected swarm of mobile robots (2008)
Journal Article

It is a characteristic of swarm robotics that modelling the overall swarm behaviour in terms of the low-level behaviours of individual robots is very difficult. Yet if swarm robotics is to make the transition from the laboratory to real-world enginee... Read More about Modelling a wireless connected swarm of mobile robots.

A feasibility study for energy autonomy in multi robot search and rescue operations (2008)
Presentation / Conference Contribution

This paper proposes a novel search and rescue concept that aims to overcome the most basic obstacle in utilising a search and rescue teleoperated robot for a long distance energy autonomy. The concept utilizes a number of small robots capable of crea... Read More about A feasibility study for energy autonomy in multi robot search and rescue operations.

Designing intelligent control systems for safety critical applications (2006)
Presentation / Conference Contribution

This paper presents a design methodology for behaviour-based intelligent control systems, which we argue is suited to safety critical applications. The methodology has a formal basis, and uses dynamical systems theory to prove system safety propertie... Read More about Designing intelligent control systems for safety critical applications.

Towards the application of swarm intelligence in safety critical systems (2006)
Presentation / Conference Contribution

Swarm Intelligence provides us with a powerful new paradigm for building fully distributed de-centralised systems in which overall system functionality emerges from the interaction of individual agents with each other and with their environment. Such... Read More about Towards the application of swarm intelligence in safety critical systems.

A methodology for provably stable behaviour-based intelligent control (2006)
Journal Article

This paper presents a design methodology for a class of behaviour-based control systems, arguing its potential for application to safety critical systems. We propose a formal basis for subsumption architecture design based on two extensions to Lyapun... Read More about A methodology for provably stable behaviour-based intelligent control.

Towards dependable swarms and a new discipline of swarm engineering (2005)
Presentation / Conference Contribution

This review paper sets out to explore the question of how future complex engineered systems based upon the swarm intelligence paradigm could be assured for dependability. The paper introduces the new concept of 'swarm engineering': a fusion of depend... Read More about Towards dependable swarms and a new discipline of swarm engineering.

Towards dependable swarms and new discipline of swarm engineering (2004)
Presentation / Conference Contribution

The original shorter paper was given as an invited talk at the SAB '04 workshop on Swarm Robotics. Selected papers were invited to be extended and following further full review were published in this volume in the highly-regarded 'state of the art re... Read More about Towards dependable swarms and new discipline of swarm engineering.

Direct Lyapunov design - A synthesis procedure for motor schema using a second-order Lyapunov stability theorem (2002)
Presentation / Conference Contribution

In this paper we propose a new procedure for construction of motor schema typically used in behaviour-based robotics. The procedure reverses the standard stability analysis approach by searching for a
control function to fit a pre-defined Lyapunov f... Read More about Direct Lyapunov design - A synthesis procedure for motor schema using a second-order Lyapunov stability theorem.

Implementation of an IR approach for autonomous docking in a self-configurable robotics system
Presentation / Conference Contribution

This paper presents an IR approach to the development of a sensor system which enables robots to autonomously dock with each other to form complex morphologies.
The system includes three sub-units with different operational ranges: a short range pro... Read More about Implementation of an IR approach for autonomous docking in a self-configurable robotics system.