Collective construction of numerical potential fields for the foraging problem
Identifieur interne : 004E88 ( Main/Exploration ); précédent : 004E87; suivant : 004E89Collective construction of numerical potential fields for the foraging problem
Auteurs : Olivier Simonin [France] ; François Charpillet [France] ; Eric Thierry [France]Source :
English descriptors
- mix :
Abstract
We consider the problem of deploying a team of agents (robots) for the foraging problem. In this problem agents have to collect disseminated resources in an unknown environment. They must therefore be endowed with exploration and path-planning abilities. This paper presents a reactive multiagent system that is able to simultaneously perform the two desired activities~ - exploration and path-planning - in unknown and complex environments. To develop this multiagent system, we have designed a distributed and asynchronous version of Barraquand's algorithm that builds an optimal Artificial Potential Field (APF). Our algorithm relies on agents with very limited perceptions that only mark their environment with integer values. The algorithm does not require any costly mechanism to be present in the environment to manage dynamic phenomena such as evaporation or propagation. We show that the APF built by our algorithm converges to optimal paths. The model is extended to deal with the multi-sources foraging problem. Simulations show that it is more time-efficient than the standard pheromone-based ant algorithm. Moreover, our approach is also able to address the problem in any kind of environment such as mazes.
Url:
Affiliations:
- France
- Auvergne-Rhône-Alpes, Grand Est, Lorraine (région), Rhône-Alpes
- Lyon, Nancy
- Institut national polytechnique de Lorraine, Université Claude Bernard Lyon 1, Université Nancy 2, Université de Lorraine, Université de Lyon
Links toward previous steps (curation, corpus...)
- to stream Hal, to step Corpus: 001541
- to stream Hal, to step Curation: 001541
- to stream Hal, to step Checkpoint: 003D85
- to stream Main, to step Merge: 005051
- to stream Main, to step Curation: 004E88
Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Collective construction of numerical potential fields for the foraging problem</title><author><name sortKey="Simonin, Olivier" sort="Simonin, Olivier" uniqKey="Simonin O" first="Olivier" last="Simonin">Olivier Simonin</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-2355" status="OLD"><idno type="RNSR">200218290B</idno><orgName>Autonomous intelligent machine</orgName><orgName type="acronym">MAIA</orgName><desc><address><country key="FR"></country></address><ref type="url">http://www.inria.fr/equipes/maia</ref></desc><listRelation><relation active="#struct-160" type="direct"></relation><relation name="UMR7503" active="#struct-441569" type="indirect"></relation><relation active="#struct-300009" type="indirect"></relation><relation active="#struct-300291" type="indirect"></relation><relation active="#struct-300292" type="indirect"></relation><relation active="#struct-300293" type="indirect"></relation><relation active="#struct-2496" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-160" type="direct"><org type="laboratory" xml:id="struct-160" status="OLD"><orgName>Laboratoire Lorrain de Recherche en Informatique et ses Applications</orgName><orgName type="acronym">LORIA</orgName><desc><address><addrLine>Campus Scientifique BP 239 54506 Vandoeuvre-lès-Nancy Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.loria.fr</ref></desc><listRelation><relation name="UMR7503" active="#struct-441569" type="direct"></relation><relation active="#struct-300009" type="direct"></relation><relation active="#struct-300291" type="direct"></relation><relation active="#struct-300292" type="direct"></relation><relation active="#struct-300293" type="direct"></relation></listRelation></org></tutelle><tutelle name="UMR7503" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle><tutelle active="#struct-300009" type="indirect"><org type="institution" xml:id="struct-300009" status="VALID"><orgName>Institut National de Recherche en Informatique et en Automatique</orgName><orgName type="acronym">Inria</orgName><desc><address><addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/en/</ref></desc></org></tutelle><tutelle active="#struct-300291" type="indirect"><org type="institution" xml:id="struct-300291" status="OLD"><orgName>Université Henri Poincaré - Nancy 1</orgName><orgName type="acronym">UHP</orgName><date type="end">2011-12-31</date><desc><address><addrLine>24-30 rue Lionnois, BP 60120, 54 003 NANCY cedex, France</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-300292" type="indirect"><org type="institution" xml:id="struct-300292" status="OLD"><orgName>Université Nancy 2</orgName><date type="end">2011-12-31</date><desc><address><addrLine>91 avenue de la Libération, BP 454, 54001 Nancy cedex</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-300293" type="indirect"><org type="institution" xml:id="struct-300293" status="OLD"><orgName>Institut National Polytechnique de Lorraine</orgName><orgName type="acronym">INPL</orgName><date type="end">2011-12-31</date><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-2496" type="direct"><org type="laboratory" xml:id="struct-2496" status="OLD"><orgName>INRIA Lorraine</orgName><desc><address><addrLine>615 rue du Jardin Botanique 54600 Villers-lès-Nancy</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/centre-de-recherche-inria/nancy-grand-est</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Nancy</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Université Nancy 2</orgName><orgName type="institution" wicri:auto="newGroup">Université de Lorraine</orgName><placeName><settlement type="city">Nancy</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Institut national polytechnique de Lorraine</orgName><orgName type="institution" wicri:auto="newGroup">Université de Lorraine</orgName></affiliation></author><author><name sortKey="Charpillet, Francois" sort="Charpillet, Francois" uniqKey="Charpillet F" first="François" last="Charpillet">François Charpillet</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-2355" status="OLD"><idno type="RNSR">200218290B</idno><orgName>Autonomous intelligent machine</orgName><orgName type="acronym">MAIA</orgName><desc><address><country key="FR"></country></address><ref type="url">http://www.inria.fr/equipes/maia</ref></desc><listRelation><relation active="#struct-160" type="direct"></relation><relation name="UMR7503" active="#struct-441569" type="indirect"></relation><relation active="#struct-300009" type="indirect"></relation><relation active="#struct-300291" type="indirect"></relation><relation active="#struct-300292" type="indirect"></relation><relation active="#struct-300293" type="indirect"></relation><relation active="#struct-2496" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-160" type="direct"><org type="laboratory" xml:id="struct-160" status="OLD"><orgName>Laboratoire Lorrain de Recherche en Informatique et ses Applications</orgName><orgName type="acronym">LORIA</orgName><desc><address><addrLine>Campus Scientifique BP 239 54506 Vandoeuvre-lès-Nancy Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.loria.fr</ref></desc><listRelation><relation name="UMR7503" active="#struct-441569" type="direct"></relation><relation active="#struct-300009" type="direct"></relation><relation active="#struct-300291" type="direct"></relation><relation active="#struct-300292" type="direct"></relation><relation active="#struct-300293" type="direct"></relation></listRelation></org></tutelle><tutelle name="UMR7503" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle><tutelle active="#struct-300009" type="indirect"><org type="institution" xml:id="struct-300009" status="VALID"><orgName>Institut National de Recherche en Informatique et en Automatique</orgName><orgName type="acronym">Inria</orgName><desc><address><addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/en/</ref></desc></org></tutelle><tutelle active="#struct-300291" type="indirect"><org type="institution" xml:id="struct-300291" status="OLD"><orgName>Université Henri Poincaré - Nancy 1</orgName><orgName type="acronym">UHP</orgName><date type="end">2011-12-31</date><desc><address><addrLine>24-30 rue Lionnois, BP 60120, 54 003 NANCY cedex, France</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-300292" type="indirect"><org type="institution" xml:id="struct-300292" status="OLD"><orgName>Université Nancy 2</orgName><date type="end">2011-12-31</date><desc><address><addrLine>91 avenue de la Libération, BP 454, 54001 Nancy cedex</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-300293" type="indirect"><org type="institution" xml:id="struct-300293" status="OLD"><orgName>Institut National Polytechnique de Lorraine</orgName><orgName type="acronym">INPL</orgName><date type="end">2011-12-31</date><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-2496" type="direct"><org type="laboratory" xml:id="struct-2496" status="OLD"><orgName>INRIA Lorraine</orgName><desc><address><addrLine>615 rue du Jardin Botanique 54600 Villers-lès-Nancy</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/centre-de-recherche-inria/nancy-grand-est</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Nancy</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Université Nancy 2</orgName><orgName type="institution" wicri:auto="newGroup">Université de Lorraine</orgName><placeName><settlement type="city">Nancy</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Institut national polytechnique de Lorraine</orgName><orgName type="institution" wicri:auto="newGroup">Université de Lorraine</orgName></affiliation></author><author><name sortKey="Thierry, Eric" sort="Thierry, Eric" uniqKey="Thierry E" first="Eric" last="Thierry">Eric Thierry</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-35418" status="VALID"><orgName>Laboratoire de l'Informatique du Parallélisme</orgName><orgName type="acronym">LIP</orgName><desc><address><addrLine>46 Allée d'Italie 69364 LYON CEDEX 07</addrLine><country key="FR"></country></address><ref type="url">http://www.ens-lyon.fr/LIP/</ref></desc><listRelation><relation active="#struct-6818" type="direct"></relation><relation active="#struct-194495" type="direct"></relation><relation active="#struct-300009" type="direct"></relation><relation active="#struct-301088" type="direct"></relation><relation name="UMR5668" active="#struct-441569" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-6818" type="direct"><org type="institution" xml:id="struct-6818" status="VALID"><idno type="IdRef">149154992</idno><orgName>École normale supérieure - Lyon</orgName><orgName type="acronym">ENS Lyon</orgName><desc><address><addrLine>15 parvis René Descartes - BP 7000 - 69342 Lyon Cedex 07</addrLine><country key="FR"></country></address><ref type="url">http://www.ens-lyon.eu/</ref></desc></org></tutelle><tutelle active="#struct-194495" type="direct"><org type="institution" xml:id="struct-194495" status="VALID"><orgName>Université Claude Bernard Lyon 1</orgName><orgName type="acronym">UCBL</orgName><desc><address><addrLine>43, boulevard du 11 novembre 1918, 69622 Villeurbanne cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-lyon1.fr/</ref></desc></org></tutelle><tutelle active="#struct-300009" type="direct"><org type="institution" xml:id="struct-300009" status="VALID"><orgName>Institut National de Recherche en Informatique et en Automatique</orgName><orgName type="acronym">Inria</orgName><desc><address><addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/en/</ref></desc></org></tutelle><tutelle active="#struct-301088" type="direct"><org type="institution" xml:id="struct-301088" status="VALID"><orgName>PRES Université de Lyon</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle name="UMR5668" active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Lyon</settlement><region type="region" nuts="2">Auvergne-Rhône-Alpes</region><region type="old region" nuts="2">Rhône-Alpes</region></placeName><orgName type="university">Université Claude Bernard Lyon 1</orgName><orgName type="institution" wicri:auto="newGroup">Université de Lyon</orgName></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">HAL</idno><idno type="RBID">Hal:inria-00143302</idno><idno type="halId">inria-00143302</idno><idno type="halUri">https://hal.inria.fr/inria-00143302</idno><idno type="url">https://hal.inria.fr/inria-00143302</idno><date when="2007">2007</date><idno type="wicri:Area/Hal/Corpus">001541</idno><idno type="wicri:Area/Hal/Curation">001541</idno><idno type="wicri:Area/Hal/Checkpoint">003D85</idno><idno type="wicri:explorRef" wicri:stream="Hal" wicri:step="Checkpoint">003D85</idno><idno type="wicri:Area/Main/Merge">005051</idno><idno type="wicri:Area/Main/Curation">004E88</idno><idno type="wicri:Area/Main/Exploration">004E88</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Collective construction of numerical potential fields for the foraging problem</title><author><name sortKey="Simonin, Olivier" sort="Simonin, Olivier" uniqKey="Simonin O" first="Olivier" last="Simonin">Olivier Simonin</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-2355" status="OLD"><idno type="RNSR">200218290B</idno><orgName>Autonomous intelligent machine</orgName><orgName type="acronym">MAIA</orgName><desc><address><country key="FR"></country></address><ref type="url">http://www.inria.fr/equipes/maia</ref></desc><listRelation><relation active="#struct-160" type="direct"></relation><relation name="UMR7503" active="#struct-441569" type="indirect"></relation><relation active="#struct-300009" type="indirect"></relation><relation active="#struct-300291" type="indirect"></relation><relation active="#struct-300292" type="indirect"></relation><relation active="#struct-300293" type="indirect"></relation><relation active="#struct-2496" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-160" type="direct"><org type="laboratory" xml:id="struct-160" status="OLD"><orgName>Laboratoire Lorrain de Recherche en Informatique et ses Applications</orgName><orgName type="acronym">LORIA</orgName><desc><address><addrLine>Campus Scientifique BP 239 54506 Vandoeuvre-lès-Nancy Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.loria.fr</ref></desc><listRelation><relation name="UMR7503" active="#struct-441569" type="direct"></relation><relation active="#struct-300009" type="direct"></relation><relation active="#struct-300291" type="direct"></relation><relation active="#struct-300292" type="direct"></relation><relation active="#struct-300293" type="direct"></relation></listRelation></org></tutelle><tutelle name="UMR7503" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle><tutelle active="#struct-300009" type="indirect"><org type="institution" xml:id="struct-300009" status="VALID"><orgName>Institut National de Recherche en Informatique et en Automatique</orgName><orgName type="acronym">Inria</orgName><desc><address><addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/en/</ref></desc></org></tutelle><tutelle active="#struct-300291" type="indirect"><org type="institution" xml:id="struct-300291" status="OLD"><orgName>Université Henri Poincaré - Nancy 1</orgName><orgName type="acronym">UHP</orgName><date type="end">2011-12-31</date><desc><address><addrLine>24-30 rue Lionnois, BP 60120, 54 003 NANCY cedex, France</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-300292" type="indirect"><org type="institution" xml:id="struct-300292" status="OLD"><orgName>Université Nancy 2</orgName><date type="end">2011-12-31</date><desc><address><addrLine>91 avenue de la Libération, BP 454, 54001 Nancy cedex</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-300293" type="indirect"><org type="institution" xml:id="struct-300293" status="OLD"><orgName>Institut National Polytechnique de Lorraine</orgName><orgName type="acronym">INPL</orgName><date type="end">2011-12-31</date><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-2496" type="direct"><org type="laboratory" xml:id="struct-2496" status="OLD"><orgName>INRIA Lorraine</orgName><desc><address><addrLine>615 rue du Jardin Botanique 54600 Villers-lès-Nancy</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/centre-de-recherche-inria/nancy-grand-est</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Nancy</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Université Nancy 2</orgName><orgName type="institution" wicri:auto="newGroup">Université de Lorraine</orgName><placeName><settlement type="city">Nancy</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Institut national polytechnique de Lorraine</orgName><orgName type="institution" wicri:auto="newGroup">Université de Lorraine</orgName></affiliation></author><author><name sortKey="Charpillet, Francois" sort="Charpillet, Francois" uniqKey="Charpillet F" first="François" last="Charpillet">François Charpillet</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-2355" status="OLD"><idno type="RNSR">200218290B</idno><orgName>Autonomous intelligent machine</orgName><orgName type="acronym">MAIA</orgName><desc><address><country key="FR"></country></address><ref type="url">http://www.inria.fr/equipes/maia</ref></desc><listRelation><relation active="#struct-160" type="direct"></relation><relation name="UMR7503" active="#struct-441569" type="indirect"></relation><relation active="#struct-300009" type="indirect"></relation><relation active="#struct-300291" type="indirect"></relation><relation active="#struct-300292" type="indirect"></relation><relation active="#struct-300293" type="indirect"></relation><relation active="#struct-2496" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-160" type="direct"><org type="laboratory" xml:id="struct-160" status="OLD"><orgName>Laboratoire Lorrain de Recherche en Informatique et ses Applications</orgName><orgName type="acronym">LORIA</orgName><desc><address><addrLine>Campus Scientifique BP 239 54506 Vandoeuvre-lès-Nancy Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.loria.fr</ref></desc><listRelation><relation name="UMR7503" active="#struct-441569" type="direct"></relation><relation active="#struct-300009" type="direct"></relation><relation active="#struct-300291" type="direct"></relation><relation active="#struct-300292" type="direct"></relation><relation active="#struct-300293" type="direct"></relation></listRelation></org></tutelle><tutelle name="UMR7503" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle><tutelle active="#struct-300009" type="indirect"><org type="institution" xml:id="struct-300009" status="VALID"><orgName>Institut National de Recherche en Informatique et en Automatique</orgName><orgName type="acronym">Inria</orgName><desc><address><addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/en/</ref></desc></org></tutelle><tutelle active="#struct-300291" type="indirect"><org type="institution" xml:id="struct-300291" status="OLD"><orgName>Université Henri Poincaré - Nancy 1</orgName><orgName type="acronym">UHP</orgName><date type="end">2011-12-31</date><desc><address><addrLine>24-30 rue Lionnois, BP 60120, 54 003 NANCY cedex, France</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-300292" type="indirect"><org type="institution" xml:id="struct-300292" status="OLD"><orgName>Université Nancy 2</orgName><date type="end">2011-12-31</date><desc><address><addrLine>91 avenue de la Libération, BP 454, 54001 Nancy cedex</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-300293" type="indirect"><org type="institution" xml:id="struct-300293" status="OLD"><orgName>Institut National Polytechnique de Lorraine</orgName><orgName type="acronym">INPL</orgName><date type="end">2011-12-31</date><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-2496" type="direct"><org type="laboratory" xml:id="struct-2496" status="OLD"><orgName>INRIA Lorraine</orgName><desc><address><addrLine>615 rue du Jardin Botanique 54600 Villers-lès-Nancy</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/centre-de-recherche-inria/nancy-grand-est</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Nancy</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Université Nancy 2</orgName><orgName type="institution" wicri:auto="newGroup">Université de Lorraine</orgName><placeName><settlement type="city">Nancy</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Institut national polytechnique de Lorraine</orgName><orgName type="institution" wicri:auto="newGroup">Université de Lorraine</orgName></affiliation></author><author><name sortKey="Thierry, Eric" sort="Thierry, Eric" uniqKey="Thierry E" first="Eric" last="Thierry">Eric Thierry</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-35418" status="VALID"><orgName>Laboratoire de l'Informatique du Parallélisme</orgName><orgName type="acronym">LIP</orgName><desc><address><addrLine>46 Allée d'Italie 69364 LYON CEDEX 07</addrLine><country key="FR"></country></address><ref type="url">http://www.ens-lyon.fr/LIP/</ref></desc><listRelation><relation active="#struct-6818" type="direct"></relation><relation active="#struct-194495" type="direct"></relation><relation active="#struct-300009" type="direct"></relation><relation active="#struct-301088" type="direct"></relation><relation name="UMR5668" active="#struct-441569" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-6818" type="direct"><org type="institution" xml:id="struct-6818" status="VALID"><idno type="IdRef">149154992</idno><orgName>École normale supérieure - Lyon</orgName><orgName type="acronym">ENS Lyon</orgName><desc><address><addrLine>15 parvis René Descartes - BP 7000 - 69342 Lyon Cedex 07</addrLine><country key="FR"></country></address><ref type="url">http://www.ens-lyon.eu/</ref></desc></org></tutelle><tutelle active="#struct-194495" type="direct"><org type="institution" xml:id="struct-194495" status="VALID"><orgName>Université Claude Bernard Lyon 1</orgName><orgName type="acronym">UCBL</orgName><desc><address><addrLine>43, boulevard du 11 novembre 1918, 69622 Villeurbanne cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-lyon1.fr/</ref></desc></org></tutelle><tutelle active="#struct-300009" type="direct"><org type="institution" xml:id="struct-300009" status="VALID"><orgName>Institut National de Recherche en Informatique et en Automatique</orgName><orgName type="acronym">Inria</orgName><desc><address><addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/en/</ref></desc></org></tutelle><tutelle active="#struct-301088" type="direct"><org type="institution" xml:id="struct-301088" status="VALID"><orgName>PRES Université de Lyon</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle name="UMR5668" active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Lyon</settlement><region type="region" nuts="2">Auvergne-Rhône-Alpes</region><region type="old region" nuts="2">Rhône-Alpes</region></placeName><orgName type="university">Université Claude Bernard Lyon 1</orgName><orgName type="institution" wicri:auto="newGroup">Université de Lyon</orgName></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>Multiagent Systems</term><term>collective robotics</term><term>foraging task</term><term>swarm intelligence</term><term>synthetic pheromones</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">We consider the problem of deploying a team of agents (robots) for the foraging problem. In this problem agents have to collect disseminated resources in an unknown environment. They must therefore be endowed with exploration and path-planning abilities. This paper presents a reactive multiagent system that is able to simultaneously perform the two desired activities~ - exploration and path-planning - in unknown and complex environments. To develop this multiagent system, we have designed a distributed and asynchronous version of Barraquand's algorithm that builds an optimal Artificial Potential Field (APF). Our algorithm relies on agents with very limited perceptions that only mark their environment with integer values. The algorithm does not require any costly mechanism to be present in the environment to manage dynamic phenomena such as evaporation or propagation. We show that the APF built by our algorithm converges to optimal paths. The model is extended to deal with the multi-sources foraging problem. Simulations show that it is more time-efficient than the standard pheromone-based ant algorithm. Moreover, our approach is also able to address the problem in any kind of environment such as mazes.</div></front></TEI><affiliations><list><country><li>France</li></country><region><li>Auvergne-Rhône-Alpes</li><li>Grand Est</li><li>Lorraine (région)</li><li>Rhône-Alpes</li></region><settlement><li>Lyon</li><li>Nancy</li></settlement><orgName><li>Institut national polytechnique de Lorraine</li><li>Université Claude Bernard Lyon 1</li><li>Université Nancy 2</li><li>Université de Lorraine</li><li>Université de Lyon</li></orgName></list><tree><country name="France"><region name="Grand Est"><name sortKey="Simonin, Olivier" sort="Simonin, Olivier" uniqKey="Simonin O" first="Olivier" last="Simonin">Olivier Simonin</name></region><name sortKey="Charpillet, Francois" sort="Charpillet, Francois" uniqKey="Charpillet F" first="François" last="Charpillet">François Charpillet</name><name sortKey="Thierry, Eric" sort="Thierry, Eric" uniqKey="Thierry E" first="Eric" last="Thierry">Eric Thierry</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Wicri/Lorraine/explor/InforLorV4/Data/Main/Exploration
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 004E88 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 004E88 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Wicri/Lorraine
|area= InforLorV4
|flux= Main
|étape= Exploration
|type= RBID
|clé= Hal:inria-00143302
|texte= Collective construction of numerical potential fields for the foraging problem
}}
| This area was generated with Dilib version V0.6.33. |  |