Cooperative Robot Structures Modeled After Whale Behavior and Social Structure
Keywords:cooperative structures, data fusion, manipulative robots
This paper analyses the communications and social structure of whale pods and tries to apply their principles on cooperative robot structures which can be guided to perform a certain task. The communication patterns and social structure are presented at first in order to define real, natural phenomena which can then be translated through cooperative robotic structures. Whale communication has suffered modifications in the latter years mostly because of the increase of noise in the ocean. Problems regarding communications between the cooperative structures chosen for modelling whale behavior are solved by data fusion techniques. In the last part of the paper the problem of dynamic compensation of disturbances is studied with regard to cooperative structures.
K.J. Astrom, B. Wittenmark, Computer Controlled Systems: Theory and Design, Prentice- Hall, Englewoods Cliffs, NJ, 1984
K.J. Astrom, C.C. Hang, B.C. Lin, A New Smith Predictor for Controlling a Process With an Integrator and Long Dead-Time, IEEE Transactions on Automatic Control, 39(2), pp. 343-345, 1994 http://dx.doi.org/10.1109/9.272329
Y.U. Cao, A.S. Fukanaga, A.B. KAHNG, Cooperative Mobile Robotics: Antecedents and Directions, Autonomous Robots, 4, 1-23, Kluwer Academic Publishers, Boston, 1997
D. Feng, D.,Wencai, L. Zhi, New Smith Predictor and Nonlinear Control for Networked Control Systems, Proceedings Of The International MultiConference of Engineers and Computer Scientists, March 18-20, Hong Kong, Vol. 2, pp. 1184-1188, 2009
D. Feng, Q. Qian, Study of NCS with Improvement Smith Predictor and Fuzzy Immune Control, Proceedings of the International Conference on Intelligent Systems and Knowledge Engineering, Chengdu, China, 2007
D.L. Hall, J. Llinas,Handbook of Multisensor Data Fusion, CRC Press, New York, USA, 2001
J.G. Truxal, M.J. Shooman, W.R. Blesser, J.W. Clark, Remote Control, in the Handbook of Telemetry and Remote Control, Mc-Graw Hill, New-York, pp 1-169, 1967
J. Velagic, Design of Smith-like Predictive Controller with Communication Delay Adaptation, World Academy of Science, Engineering and Technology, no. 47, pp 199-203, 2008
M. Veronesi, Performance Improvement of Smith Predictor through Automatic Computation of Dead Time, Yokogawa Technical Report English Edition, pp 25-30, 2003
X. Yang, Bio-Inspired Computing and Networking, CRC Press, 2011.
ONLINE OPEN ACCES: Acces to full text of each article and each issue are allowed for free in respect of Attribution-NonCommercial 4.0 International (CC BY-NC 4.0.
You are free to:
-Share: copy and redistribute the material in any medium or format;
-Adapt: remix, transform, and build upon the material.
The licensor cannot revoke these freedoms as long as you follow the license terms.
DISCLAIMER: The author(s) of each article appearing in International Journal of Computers Communications & Control is/are solely responsible for the content thereof; the publication of an article shall not constitute or be deemed to constitute any representation by the Editors or Agora University Press that the data presented therein are original, correct or sufficient to support the conclusions reached or that the experiment design or methodology is adequate.