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Implementation and Modeling of Robot Aggregation Behavior in Webots Todesco Laetitia & Rappo Claudia Supervisor: Correll Nikolaus January 9, 2006 Outline Introduction to aggregation Modeling robot aggregation in Webots


  1. Implementation and Modeling of Robot Aggregation Behavior in Webots Todesco Laetitia & Rappo Claudia Supervisor: Correll Nikolaus January 9, 2006

  2. Outline • Introduction to aggregation • Modeling robot aggregation in Webots • Results of the different simulations – Variations of stopping probability – Variations of sensor range • Conclusion

  3. 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.

  4. 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)

  5. Studying the impact of different parameters (1/2) 1. Probability of stopping 3 different configurations: • Low probability • Reference • High probability

  6. 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

  7. 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

  8. 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.

  9. 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

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