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Re-embodiment of Honeybee Aggregation Behavior in an Artificial Micro-Robotic System

Institute of Parallel and Distributed Systems, University of Stuttgart, Germany

Ronald Thenius

Department of Zoology, University of Graz, Austria, ronald.thenius{at}uni-graz.at

Olga Kernbach

Institute of Parallel and Distributed Systems, University of Stuttgart, Germany, kornieoa{at}ipvs.uni-stuttgart.de

Thomas Schmickl

Department of Zoology, University of Graz, Austria, thomas.schmickl{at}uni-graz.at

In this article we describe the re-embodiment of biological aggregation behavior of honeybees in Jasmine micro-robots. The observed insect behavior, in the context of the insect's sensor—actor system, is formalized as behavioral and motion-sensing meta-models. These meta-models are transformed into a sensor—actor system of micro-robots by means of a sensors virtualization technique. This allows us to keep the efficiency and scalability of the bio-inspired approach. We also demonstrate the systematic character of this re-embodiment procedure on collective aggregation in a real robotic swarm.

Key Words: biologically inspired algorithms • micro-robotic swarm • aggregation behavior • embodiment • sensor—actor couplings

Adaptive Behavior, Vol. 17, No. 3, 237-259 (2009)
DOI: 10.1177/1059712309104966


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