Jacques Penders and Lyuba Alboul
This paper aims to discuss traffic patterns generated by swarms of robots while commuting to and from a base station.
Abstract
Purpose
This paper aims to discuss traffic patterns generated by swarms of robots while commuting to and from a base station.
Design/methodology/approach
The paper adopts a mathematical evaluation and robot swarm simulation. The swarm approach is bottom‐up: designing individual agents the authors are looking for emerging group behaviour patterns. Examples of group behaviour patterns are human‐driven motorized traffic which is rigidly structured in two lanes, while army ants develop a three‐lane pattern in their traffic. The authors copy army ant characteristics onto their robots and investigate whether the three lane traffic pattern may emerge. They follow a three‐step approach. The authors first investigate the mathematics and geometry of cases occurring when applying the artificial potential field method to three “perfect” robots. Any traffic pattern (two, three or more lanes) appears to be possible. Next, they use the mathematical cases to study the impact of limited visibility by defining models of sensor designs. In the final step the authors implement ant inspired sensor models and a trail following mechanism on the robots in the swarm and explore which traffic patterns do emerge in open space as well as in bounded roads.
Findings
The study finds that traffic lanes emerge in the swarm traffic; however the number of lanes is dependent on the initial situation and environmental conditions. Intrinsically the applied robot models do not determine a specific number of traffic lanes.
Originality/value
The paper presents a method for studying and simulating robot swarms.
Details
Keywords
Joan Saez‐Pons, Lyuba Alboul, Jacques Penders and Leo Nomdedeu
The Group of Unmanned Assistant Robots Deployed in Aggregative Navigation by Scent (GUARDIANS) multi‐robot team is to be deployed in a large warehouse in smoke. The team is to…
Abstract
Purpose
The Group of Unmanned Assistant Robots Deployed in Aggregative Navigation by Scent (GUARDIANS) multi‐robot team is to be deployed in a large warehouse in smoke. The team is to assist firefighters search the warehouse in the event or danger of a fire. The large dimensions of the environment together with development of smoke which drastically reduces visibility, represent major challenges for search and rescue operations. The GUARDIANS robots act alongside a firefighter and guide and accompany the firefighters on the site while indicating possible obstacles and the locations of danger and maintain communications links. The purpose of this paper is to focus on basic navigation behaviours of multi‐robot or human‐robot teams, which have to be achieved without central and on‐line control in both categories of GUARDIANS robots' tasks.
Design/methodology/approach
In order to fulfill the aforementioned tasks, the robots need to be able to perform certain behaviours. Among the basic behaviours are capabilities to stay together as a group, that is, generate a formation and navigate while keeping this formation. The control model used to generate these behaviours is based on the so‐called social potential field framework, which the authors adapt to the specific tasks required for the GUARDIANS scenario. All tasks can be achieved without central control, and some of the behaviours can be performed without explicit communication between the robots.
Findings
The GUARDIANS environment requires flexible formations of the robot team: the formation has to adapt itself to the circumstances. Thus, the application has forced the concept of a formation to be re‐defined. Using the graph‐theoretic terminology, it can be said that a formation may be stretched out as a path or be compact as a star or wheel. The developed behaviours have been implemented in simulation environments as well as on real ERA‐MOBI robots commonly referred to as Erratics. Advantages and shortcomings of the model, based on the simulations as well as on the implementation with a team of Erratics are discussed.
Originality/value
This paper discusses the concept of a robot formation in the context of a real world application of a robot team (Swarm).
Details
Keywords
On 24th January this year the new and long‐promised legislation for public libraries in England and Wales made its bow in the shape of the Public Libraries and Museums Bill. Its…
Abstract
On 24th January this year the new and long‐promised legislation for public libraries in England and Wales made its bow in the shape of the Public Libraries and Museums Bill. Its first reading took place in the House of Commons on that day, and the unopposed second reading was on 5th February. As we write, future timing is uncertain, and it may be that by the time our readers are perusing these pages that the Bill will hare been passed in all its stages. The 23 clauses of the Bill occupy only 12½ pages. Briefly, the Bill will place the development of the public library service under the superintendence of the Minister of Education, and will set up two advisory councils as well as regional councils for interlibrary co‐operation. Non‐county boroughs and urban districts of less than 40,000 population which are existing library authorities will have to apply to the Minister for approval to continue as such. Clause 7 states that every library authority has a duty to provide a comprehensive and efficient library service, while the succeeding clause provides that, apart from certain exceptions, no charges shall be made by public library authorities. The Bill places considerable powers upon the Minister. Like most Bills, there is much in it which is open to interpretation. Does, for instance, clause 8, subsection (1) mean that those library authorities which are at present charging for the issue of gramophone records will have to cease doing so? This would seem to be the case, and we hope it is the case. On the other hand, which precise facilities are meant in subsection (4) of the same clause? Librarians will be disappointed that there is no reference to the need for library authorities to appoint separate library committees, nor is there a duty placed upon them to appoint suitably qualified persons as chief librarians. The Minister is given the power of inspection, and few library authorities or librarians will fear this. On the other hand no state financial assistance to library authorities is mentioned. In the 1930s and 19405 many wanted state aid but feared the consequential inspection. Now we have got the inspection without the money! When the Bill appeared, The Library World asked several librarians for their brief first impressions and in the following symposium will be found the views of a city librarian, a county librarian, two London librarians, a Welsh librarian, the librarian of a smaller town, and a member of the younger generation whose professional future may well be shaped by this new legislation.
Morrison's Beloved presents a complex anatomy of guilt. This is the perception that underwrites Slavoj Zizek's recruitment of the 1987 novel in his recent discussion of ethics and…
Abstract
Morrison's Beloved presents a complex anatomy of guilt. This is the perception that underwrites Slavoj Zizek's recruitment of the 1987 novel in his recent discussion of ethics and politics. In Zizek's Fragile Absolute (2000), he claims that Sethe's murder of her child as a privileged instance of what he terms “the ethical act.” Drawing on Lacanian psychoanalytic ethics to articulate a relation between the psychic and the political, Zizek argues that the only truly ethical act is one that breaks with the cycle of law and transgression, evading the superego through a suicidal “shooting oneself in the foot.” This paper argues that while Zizek's reading of Beloved is in some ways illuminating, Morrison's novel itself offers a profound analysis of Zizek's conception of the “ethical act,” exposing the limited nature of this act as part of a larger political strategy. I propose a reading of Morrison's novel that focuses on its exploration of violence and guilt, reading it both alongside and against dominant psychoanalytic conceptions derived from Freud, Lacan, and Zizek's deployment of both.