Complex Taxis-Behaviour in a Novel Bio-Inspired Robot Controller

Thomas Schmickl, Heiko Hamann, J├╝rgen Stradner, Ralf Mayet, Karl Crailsheim
Proceedings of the 12th International Conference on Artificial Life (Alife XII) (2010), 648-655


  In swarm robotics, robots with only poor computational equipment are
  often used. Additionally, the precision of their actuators and
  sensors is rather poor. This causes a challenge in the construction
  of controllers able to achieve complex behaviors on such robotic
  systems. Here we describe a novel bio-inspired concept of a robot
  control paradigm, which is inspired by the information-processing of
  simple microorganisms. The basic idea is that we use a roughly
  abstracted model of inter-cellular signal emission and signal
  processing to control the movement behavior of a two-wheeled
  autonomous robot.  Many unicellular organisms are able to perform
  taxis-behavior (phototaxis, chemotaxis, etc.) without having
  sophisticated sensor equipment and without possessing neuronal
  structures. Our Artificial Homeostatic Hormone System (AHHS) mimics
  primitive chemical signal networks and is able to achieve
  taxis-behavior with little computational cost.  In this article the
  controller is analyzed in a simple mathematical model and additional
  tests are performed on a more sophisticated multi-agent simulation
  of robotic hardware and the controller is implemented on real
  robotic hardware.

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