Edge Detection in Static and Dynamic Environments using Robot Swarms

Yara Khaluf

doi:10.1109/SASO.2017.17

Edge Detection in Static and Dynamic Environments using Robot Swarms

Yara Khaluf^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › Academic › peer-review

8 Citations (Scopus)

Abstract

Robotic systems offer an attractive solution for a large spectrum of real-world applications that are hosted in dangerous or inaccessible areas for humans. In such applications, one of the fundamental tasks is to detect and mark particular features (e.g., pollution areas) in order to develop a proper response. In this paper, we focus on the specific problem of environmental edge detection using a swarm of homogeneous robots that can sense and act distributively using a large number of individuals. In our study, we consider both static and dynamic 2D environments, in which the spatial distribution of the feature(s) may change over time. We verify our results using a set of physics-based simulations.

Original language	English
Title of host publication	Proceedings - 11th IEEE International Conference on Self-Adaptive and Self-Organizing Systems, SASO 2017
Publisher	IEEE
Pages	81-90
Number of pages	10
ISBN (Electronic)	9781509065554
DOIs	https://doi.org/10.1109/SASO.2017.17
Publication status	Published - 9 Oct 2017
Externally published	Yes
Event	11th IEEE International Conference on Self-Adaptive and Self-Organizing Systems, SASO 2017 - Tucson, United States Duration: 18 Sept 2017 → 22 Sept 2017

Conference/symposium

Conference/symposium	11th IEEE International Conference on Self-Adaptive and Self-Organizing Systems, SASO 2017
Country/Territory	United States
City	Tucson
Period	18/09/17 → 22/09/17

Keywords

collective behavior
edge detection
swarm robotics

Access to Document

10.1109/SASO.2017.17

Cite this

@inproceedings{d6350ee1c3ff49c6adae4142ebab595f,

title = "Edge Detection in Static and Dynamic Environments using Robot Swarms",

abstract = "Robotic systems offer an attractive solution for a large spectrum of real-world applications that are hosted in dangerous or inaccessible areas for humans. In such applications, one of the fundamental tasks is to detect and mark particular features (e.g., pollution areas) in order to develop a proper response. In this paper, we focus on the specific problem of environmental edge detection using a swarm of homogeneous robots that can sense and act distributively using a large number of individuals. In our study, we consider both static and dynamic 2D environments, in which the spatial distribution of the feature(s) may change over time. We verify our results using a set of physics-based simulations.",

keywords = "collective behavior, edge detection, swarm robotics",

author = "Yara Khaluf",

year = "2017",

month = oct,

day = "9",

doi = "10.1109/SASO.2017.17",

language = "English",

pages = "81--90",

booktitle = "Proceedings - 11th IEEE International Conference on Self-Adaptive and Self-Organizing Systems, SASO 2017",

publisher = "IEEE",

address = "United States",

note = "11th IEEE International Conference on Self-Adaptive and Self-Organizing Systems, SASO 2017 ; Conference date: 18-09-2017 Through 22-09-2017",

}

Khaluf, Y 2017, Edge Detection in Static and Dynamic Environments using Robot Swarms. in Proceedings - 11th IEEE International Conference on Self-Adaptive and Self-Organizing Systems, SASO 2017., 8064032, IEEE, pp. 81-90, 11th IEEE International Conference on Self-Adaptive and Self-Organizing Systems, SASO 2017, Tucson, United States, 18/09/17. https://doi.org/10.1109/SASO.2017.17

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T1 - Edge Detection in Static and Dynamic Environments using Robot Swarms

AU - Khaluf, Yara

PY - 2017/10/9

Y1 - 2017/10/9

N2 - Robotic systems offer an attractive solution for a large spectrum of real-world applications that are hosted in dangerous or inaccessible areas for humans. In such applications, one of the fundamental tasks is to detect and mark particular features (e.g., pollution areas) in order to develop a proper response. In this paper, we focus on the specific problem of environmental edge detection using a swarm of homogeneous robots that can sense and act distributively using a large number of individuals. In our study, we consider both static and dynamic 2D environments, in which the spatial distribution of the feature(s) may change over time. We verify our results using a set of physics-based simulations.

AB - Robotic systems offer an attractive solution for a large spectrum of real-world applications that are hosted in dangerous or inaccessible areas for humans. In such applications, one of the fundamental tasks is to detect and mark particular features (e.g., pollution areas) in order to develop a proper response. In this paper, we focus on the specific problem of environmental edge detection using a swarm of homogeneous robots that can sense and act distributively using a large number of individuals. In our study, we consider both static and dynamic 2D environments, in which the spatial distribution of the feature(s) may change over time. We verify our results using a set of physics-based simulations.

KW - collective behavior

KW - edge detection

KW - swarm robotics

U2 - 10.1109/SASO.2017.17

DO - 10.1109/SASO.2017.17

M3 - Conference paper

AN - SCOPUS:85035317892

SP - 81

EP - 90

BT - Proceedings - 11th IEEE International Conference on Self-Adaptive and Self-Organizing Systems, SASO 2017

PB - IEEE

T2 - 11th IEEE International Conference on Self-Adaptive and Self-Organizing Systems, SASO 2017

Y2 - 18 September 2017 through 22 September 2017

ER -

Edge Detection in Static and Dynamic Environments using Robot Swarms

Abstract

Conference/symposium

Keywords

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