{"type":"ScholarlyArticle","title":"A Unified Mathematical Approach for Foraging and Construction Systems in a 1,000,000 Robot Swarm","authors":[{"name":"John Harwell","slug":"john-harwell","given":"John","family":"Harwell","affiliation":"Department of Computer Science , University of Minnesota"}],"abstract":"Automation in construction is possible with systems designed using the swarm robotic principles\r\nof scalability, flexibility, robustness, and emergence. We derive quantitative measurements of\r\nthese principles in 10,000 robot swarms as a first\r\nstep in achieving this goal. We summarize our recent task allocation work in the context of an object gathering task and demonstrate its feasibility\r\nin the context of automated construction tasks. We\r\npresent a trajectory to extend our current task allocation methodology using stochastic processes in\r\norder to present a unified approach to task allocation in swarm-robotic construction","doi":"10.24963/ijcai.2019/908","url":"https://ijcai.org/proceedings/2019/908","pdf":"https://ijcai.org/proceedings/2019/0908.pdf","markdown":"https://ijcai.org/proceedings/2019/908.md","bibtex":"https://ijcai.org/proceedings/2019/bibtex/908","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":"Doctoral Consortium","track":"Doctoral Consortium","number":908,"pages":{"first":6438,"last":6439},"keywords":["Robotics: Behavior and Control","Robotics: Multi-Robot Systems","Agent-based and Multi-agent Systems: Agent Societies"],"videos":[],"references":[{"position":1,"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":2,"raw":"[Harwell and Gini, 2019] John Harwell and Maria Gini. Swarm engineering through quantitative measurement of swarm robotic principles in a 10,000 robot swarm. arXiv:1907.03880, 2019.","title":"Swarm engineering through quantitative measurement of swarm robotic principles in a 10,000 robot swarm","authors":"Gini Harwell, John Harwell, Maria Gini","year":"2019","venue":null,"doi":null,"url":null,"internal_url":"/proceedings/2019/48"},{"position":3,"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":4,"raw":"[Petersen et al., 2011] Kirstin Petersen, Radhika Nagpal, and Justin Werfel. TERMES: An autonomous robotic system for three-dimensional collective construction. In Robotics: Science and Systems (RSS), 2011.","title":"TERMES: An autonomous robotic system for three-dimensional collective construction","authors":"Kirstin Petersen, Radhika Nagpal, Justin Werfel","year":"2011","venue":"Robotics: Science and Systems (RSS","doi":null,"url":null,"internal_url":null}],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}