Tatapudi Mallikarjuna Rao

SUNY Brockport

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Amit Bhaya

Universidade Federal do Rio de Janeiro

Rajesh P. N. Rao

University of Washington

Krishnan Aghoramurthy

Indian Institute of Technology Kharagpur

Ferat Sahin

Rochester Institute of Technology

Jason C. Tillett

University of Rochester

G.P. Rao

Andhra Pradesh Forest Department

DINES CHANDRA SAHA

Indian Institute of Technology Kharagpur

Cooperative Institutions

Indian Institute of Technology Kharagpur

Rochester Institute of Technology

Engineering Systems (United States)

Universidade Federal do Rio de Janeiro

Indian Institute of Technology Delhi

Weatherford College

Henan Tianguan Group (China)

Universidade Federal do ABC

Oak Ridge National Laboratory

Agência Nacional de Energia Elétrica

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Robust recruitment near the edge of chaos and an application to mine sweeping

Jason C. Tillett Tatapudi Mallikarjuna Rao Rajesh P. N. Rao Ferat Sahin

The field of robotics is in rapid development. As robots become cheaper to build, new applications involving many robots systems can be envisioned. One reason for using many robots is to achieve robustness. Having many robots, however, does not ensure robustness. A control strategy and robot behaviors must be engineered to incorporate robustness into the system. Swarm intelligence based approaches are popular for developing optimal and robust control strategies for systems of robots. Here we analyze the behavior of a swarm of robots modeled after a swarm of ants, where tasks are spatially distributed in the environment and robots/ants are recruited through short-range recruitment. For ants that move probabilistically in response to the short range signal and who adjust their probabilities such that they are near a phase change boundary, or edge-of-chaos, in the mean field analysis of their motions, we find a significant improvement in the robustness of the system.

Robustness

Swarm Robotics

Ant robotics

10.1109/icsmc.2003.1245706

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Citations (2)

A Microprocessor-Based System for On-Line Parameter Identification in Continuous Dynamical Systems

IEEE Transactions on Industrial Electronics (1982)

G.P. Rao DINES CHANDRA SAHA Tatapudi Mallikarjuna Rao Krishnan Aghoramurthy Amit Bhaya

The paper proposes a microprocessor-based unit for online identification of the parameters in linear continuous lumped dynamical systems. The unit implements an algorithm which uses the so-called Poisson mement functionals (PMF) of input-output data from the actual process under identification.

Microprocessor

Identification

Line (geometry)

10.1109/tie.1982.356663

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Citations (8)