{"type":"ScholarlyArticle","title":"Swarm Engineering Through Quantitative Measurement of Swarm Robotic Principles in a 10,000 Robot Swarm","authors":[{"name":"John Harwell","slug":"john-harwell","given":"John","family":"Harwell","affiliation":"Department of Computer Science and Engineering , University of Minnesota"},{"name":"Maria Gini","slug":"maria-gini","given":"Maria","family":"Gini","affiliation":"Department of Computer Science and Engineering , University of Minnesota"}],"abstract":"When designing swarm-robotic systems, system-\r\natic comparison of algorithms from different do-\r\nmains is necessary to determine which is capa-\r\nble of scaling up to handle the target problem size\r\nand target operating conditions. We propose a set\r\nof quantitative metrics for scalability, flexibility,\r\nand emergence which are capable of addressing\r\nthese needs during the system design process. We\r\ndemonstrate the applicability of our proposed met-\r\nrics as a design tool by solving a large object gath-\r\nering problem in temporally varying operating con-\r\nditions using iterative hypothesis evaluation. We\r\nprovide experimental results obtained in simulation\r\nfor swarms of over 10,000 robots.","doi":"10.24963/ijcai.2019/48","url":"https://ijcai.org/proceedings/2019/48","pdf":"https://ijcai.org/proceedings/2019/0048.pdf","markdown":"https://ijcai.org/proceedings/2019/48.md","bibtex":"https://ijcai.org/proceedings/2019/bibtex/48","volume":{"slug":"2019","title":"Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2019","url":"https://ijcai.org/proceedings/2019/","year":2019,"location":"Macao","dates":"10-16 August 2019","editors":"Sarit Kraus","isbn":"978-0-9992411-4-1","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2019"},"section":"Agent-based and Multi-agent Systems","track":"Main track","number":48,"pages":{"first":336,"last":342},"keywords":["Agent-based and Multi-agent Systems: Agent-Based Simulation and Emergence","Robotics: Multi-Robot Systems"],"videos":[],"references":[{"position":1,"raw":"[Brutschy and others, 2015] Arne Brutschy et al. The TAM: abstracting complex tasks in swarm robotics research. Swarm Intelligence, 9(1):1-22, 2015.","title":"The TAM: abstracting complex tasks in swarm robotics research","authors":"Arne Brutschy, Brutschy","year":"2015","venue":"Swarm Intelligence","doi":null,"url":null,"internal_url":null},{"position":2,"raw":"[Correll, 2008] Nikolaus Correll. Parameter estimation and optimal control of swarm-robotic systems: A case study in distributed task allocation. In Proc. IEEE Int'l Conf. on Robotics and Automation, pages 3302-3307, May 2008.","title":"Parameter estimation and optimal control of swarm-robotic systems: A case study in distributed task allocation","authors":"Nikolaus Correll","year":"2008","venue":"Proc. IEEE Int'l Conf. on Robotics and Automation","doi":null,"url":null,"internal_url":null},{"position":3,"raw":"[Cotsaftis, 2009] Michel Cotsaftis. An emergence principle for complex systems. In Complex Sciences, pages 1105- 1117. Springer Berlin Heidelberg, 2009.","title":"An emergence principle for complex systems","authors":"Michel Cotsaftis","year":"2009","venue":"Complex Sciences","doi":null,"url":null,"internal_url":null},{"position":4,"raw":"[Dorigo, 2005] Marco Dorigo. Swarm-bot: An experiment in swarm robotics. In Proc. IEEE Swarm Intelligence Sym- posium, pages 199-207, 2005.","title":"Swarm-bot: An experiment in swarm robotics","authors":"Marco Dorigo","year":"2005","venue":"Proc. IEEE Swarm Intelligence Symposium","doi":null,"url":null,"internal_url":null},{"position":5,"raw":"[Ferrante et al., 2015] Eliseo Ferrante, Ali Emre Turgut, Edgar Duéñez-Guzmán, Marco Dorigo, and Tom Wense- leers. Evolution of Self-Organized Task Specialization in Robot Swarms. PLoS Computational Biology, 11(8), 2015.","title":"Evolution of Self-Organized Task Specialization in Robot Swarms","authors":"Eliseo Ferrante, Ali Emre Turgut, Edgar Duéñez-Guzmán, Marco Dorigo, Tom Wenseleers","year":"2015","venue":"PLoS Computational Biology","doi":null,"url":null,"internal_url":null},{"position":6,"raw":"[Frison et al., 2010] Marco Frison, Nam Luc Tran, Nadir Baiboun, Arne Brutschy, Giovanni Pini, Andrea Roli, Marco Dorigo, and Mauro Birattari. Self-organized task partitioning in a swarm of robots. In Swarm Intelligence, LNCS 6234, pages 287-298. Springer, 2010.","title":"Self-organized task partitioning in a swarm of robots","authors":"Marco Frison, Nam Luc Tran, Nadir Baiboun, Arne Brutschy, Giovanni Pini, Andrea Roli, Marco Dorigo, Mauro Birattari","year":"2010","venue":"Swarm Intelligence","doi":null,"url":null,"internal_url":null},{"position":7,"raw":"[Galstyan et al., 2005] Aram Galstyan, Tad Hogg, and Kristina Lerman. Modeling and mathematical analysis of swarms of microscopic robots. In Proc. IEEE Swarm In- telligence Symposium, SIS 2005, pages 209-216, 2005.","title":"Modeling and mathematical analysis of swarms of microscopic robots","authors":"Galstyan","year":"2005","venue":"Proc. IEEE Swarm Intelligence Symposium","doi":null,"url":null,"internal_url":null},{"position":8,"raw":"[Georgé and Gleizes, 2005] Jean-Pierre Georgé and Marie- Pierre Gleizes. Experiments in Emergent Programming Using Self-organizing Multi-agent Systems. Multi-Agent Systems and Applications IV, 3690:450-459, 2005.","title":"Experiments in Emergent Programming Using Self-organizing Multi-agent Systems","authors":"Gleizes ; Jean-Pierre Georgé, Marie-Pierre Georgé, Gleizes","year":"2005","venue":"Multi-Agent Systems and Applications IV","doi":null,"url":null,"internal_url":null},{"position":9,"raw":"[Hamann and Wörn, 2008] Heiko Hamann and Heinz Wörn. A framework of space-time continuous models for algo- rithm design in swarm robotics. Swarm Intelligence, 2(2- 4):209-239, 2008.","title":"A framework of space-time continuous models for algorithm design in swarm robotics","authors":"Heiko Hamann, Heinz Wörn","year":"2008","venue":"Swarm Intelligence","doi":null,"url":null,"internal_url":null},{"position":10,"raw":"[Hamann, 2013] Heiko Hamann. Towards swarm calculus: urn models of collective decisions and universal properties of swarm performance. Swarm Intelligence, 7:145-172, 2013.","title":"Towards swarm calculus: urn models of collective decisions and universal properties of swarm performance","authors":"Heiko Hamann","year":"2013","venue":"Swarm Intelligence","doi":null,"url":null,"internal_url":null},{"position":11,"raw":"[Harwell and Gini, 2018] John Harwell and Maria Gini. Broadening applicability of swarm-robotic foraging through constraint relaxation. IEEE Int'l Conf. on Simula- tion, Modeling, and Programming for Autonomous Robots (SIMPAR), pages 116-122, May 2018.","title":"Broadening applicability of swarm-robotic foraging through constraint relaxation","authors":"Gini ; Harwell, John Harwell, Maria Gini","year":"2018","venue":"IEEE Int'l Conf. on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)","doi":null,"url":null,"internal_url":null},{"position":12,"raw":"[Hecker and Moses, 2015] Joshua P. Hecker and Melanie E. Moses. Beyond pheromones: evolving error-tolerant, flex- ible, and scalable ant-inspired robot swarms. Swarm Intel- ligence, 9(1):43-70, 2015.","title":"Beyond pheromones: evolving error-tolerant, flexible, and scalable ant-inspired robot swarms","authors":"Joshua P Hecker, Melanie E Moses","year":"2015","venue":"Swarm Intelligence","doi":null,"url":null,"internal_url":null},{"position":13,"raw":"[Jekel et al., 2018] Charles F. Jekel, Gerhard Venter, Mar- tin P. Venter, Nielen Stander, and Raphael T. Haftka. Sim- ilarity measures for identifying material parameters from hysteresis loops using inverse analysis. International Jour- nal of Material Forming, pages 1-24, 2018.","title":"Similarity measures for identifying material parameters from hysteresis loops using inverse analysis","authors":"Charles F Jekel, Gerhard Venter, Martin P Venter, Nielen Stander, Raphael T Haftka","year":"2018","venue":"International Journal of Material Forming","doi":null,"url":null,"internal_url":null},{"position":14,"raw":"[Karp and Flatt, 1990] Alan H. Karp and Horace P. Flatt. Measuring parallel processor performance. Commun. ACM, 33(5):539-543, May 1990.","title":"Measuring parallel processor performance","authors":"Alan H Karp, Horace P Flatt","year":"1990","venue":"Commun. ACM","doi":null,"url":null,"internal_url":null},{"position":15,"raw":"[Labella and Dorigo, 2006] Thomas H. Labella and Marco Dorigo. Division of labor in a group of robots inspired by ants' foraging behavior. ACM Trans. on Autonomous and Adaptive Systems (TAAS), 1(1):4-25, September 2006.","title":"Division of labor in a group of robots inspired by ants' foraging behavior","authors":"Thomas H Labella, Marco Dorigo","year":"2006","venue":"ACM Trans. on Autonomous and Adaptive Systems (TAAS)","doi":null,"url":null,"internal_url":null},{"position":16,"raw":"[Lerman et al., 2004] Kristina Lerman, Alcherio Martinoli, and Aram Galstyan. A review of probabilistic macroscopic models for swarm robotic systems. In Swarm Robotics, LNCS 3342. Springer Berlin Heidelberg, 2004.","title":"A review of probabilistic macroscopic models for swarm robotic systems","authors":"Kristina Lerman, Alcherio Martinoli, Aram Galstyan","year":"2004","venue":"Swarm Robotics","doi":null,"url":null,"internal_url":null},{"position":17,"raw":"[Liu et al., 2007] W. Liu, a. F. T. Winfield, J. Sa, J. Chen, and L. Dou. Towards energy optimization: Emergent task allo- cation in a swarm of foraging robots. Adaptive Behavior, 15(3):289-305, 2007.","title":"Towards energy optimization: Emergent task allocation in a swarm of foraging robots","authors":"W Liu, A F T Winfield, J Sa, J Chen, L Dou","year":"2007","venue":"Adaptive Behavior","doi":null,"url":null,"internal_url":null},{"position":18,"raw":"[Lopes et al., 2016] Yuri K. Lopes, Stefan M. Trenkwalder, André B. Leal, Tony J. Dodd, and Roderich Groß. Super- visory control theory applied to swarm robotics. Swarm Intelligence, 10(1):65-97, 2016.","title":"Supervisory control theory applied to swarm robotics","authors":"Yuri K Lopes, Stefan M Trenkwalder, B André, Tony J Leal, Roderich Dodd, Groß","year":"2016","venue":"Swarm Intelligence","doi":null,"url":null,"internal_url":null},{"position":19,"raw":"[Matthey et al., 2009] Löic Matthey, Spring Berman, and Vi- jay Kumar. Stochastic strategies for a swarm robotic as- sembly system. Proc. IEEE Int'l Conf. on Robotics and Automation, pages 1953-1958, 2009.","title":"Stochastic strategies for a swarm robotic assembly system","authors":"Matthey","year":"2009","venue":"Proc. IEEE Int'l Conf. on Robotics and Automation","doi":null,"url":null,"internal_url":null},{"position":20,"raw":"[Pinciroli et al., 2012] Carlo Pinciroli et al. ARGoS: a mod- ular, parallel, multi-engine simulator for multi-robot sys- tems. Swarm Intelligence, 6(4):271-295, 2012.","title":"Carlo Pinciroli et al. ARGoS: a modular, parallel, multi-engine simulator for multi-robot systems","authors":"Pinciroli","year":"2012","venue":"Swarm Intelligence","doi":null,"url":null,"internal_url":null},{"position":21,"raw":"[Pini et al., 2011a] Giovanni Pini, Arne Brutschy, Mauro Bi- rattari, and Marco Dorigo. Task partitioning in swarms of robots: Reducing performance losses due to interference at shared resources. In Informatics in Control Automation and Robotics, LNEE 85, pages 217-228. Springer, 2011.","title":"Task partitioning in swarms of robots: Reducing performance losses due to interference at shared resources","authors":"Pini","year":"2011","venue":"Informatics in Control Automation and Robotics","doi":null,"url":null,"internal_url":null},{"position":22,"raw":"[Pini et al., 2011b] Giovanni Pini, Arne Brutschy, Marco Frison, Andrea Roli, Marco Dorigo, and Mauro Birattari. Task partitioning in swarms of robots: An adaptive method for strategy selection. Swarm Intelligence, 5(3-4):283- 304, 2011.","title":"Task partitioning in swarms of robots: An adaptive method for strategy selection","authors":"Pini","year":"2011","venue":"Swarm Intelligence","doi":null,"url":null,"internal_url":null},{"position":23,"raw":"[Rouff and others, 2004] Christopher Rouff et al. Properties of a formal method for prediction of emergent behaviors in swarm-based systems. In Proc. 2nd International Confer- ence on Software Engineering and Formal Methods, 2004.","title":"Properties of a formal method for prediction of emergent behaviors in swarm-based systems","authors":"Christopher Rouff","year":"2004","venue":"Proc. 2nd International Conference on Software Engineering and Formal Methods","doi":null,"url":null,"internal_url":null},{"position":24,"raw":"[S ¸ahin, 2005] Erol S ¸ahin. Swarm robotics: From sources of inspiration to domains of application. In Swarm Robotics, LNCS 3342, pages 10-20. Springer, 2005.","title":"Swarm robotics: From sources of inspiration to domains of application","authors":"Erol S ¸ahin","year":"2005","venue":"Swarm Robotics","doi":null,"url":null,"internal_url":null},{"position":25,"raw":"[Szabo et al., 2014] Claudia Szabo, Yong Meng Teo, and Gautam K. Chengleput. Understanding complex systems: Using interaction as a measure of emergence. In Proc. Winter Simulation Conference, pages 207-218, Dec 2014.","title":"Chengleput. Understanding complex systems: Using interaction as a measure of emergence","authors":"Claudia Szabo, Yong Meng Teo, K Gautam","year":"2014","venue":"Proc. Winter Simulation Conference","doi":null,"url":null,"internal_url":null},{"position":26,"raw":"[Winfield and Sa, 2005] Alan F. T. Winfield and Jin Sa. On formal specification of emergent behaviours in swarm robotic systems. Science, pages 363-371, 2005.","title":"On formal specification of emergent behaviours in swarm robotic systems","authors":"F T Alan, Jin Winfield, Sa","year":"2005","venue":"Science","doi":null,"url":null,"internal_url":null},{"position":27,"raw":"[Winfield et al., 2008] Alan F. T. Winfield, Wenguo Liu, Julien Nembrini, and Alcherio Martinoli. Modelling a wireless connected swarm of mobile robots. Swarm In- telligence, 2(2-4):241-266, December 2008.","title":"Modelling a wireless connected swarm of mobile robots","authors":"F T Alan, Wenguo Winfield, Julien Liu, Alcherio Nembrini, Martinoli","year":"2008","venue":"Swarm Intelligence","doi":null,"url":null,"internal_url":null}],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}