What Are the Ants Doing? Vision-Based Tracking and Reconstruction of Control Programs

— In this paper, we study the problem of going from a real-world, multi-agent system to the generation of control programs in an automatic fashion. In particular, a computer vision system is presented, capable of simultaneously tracking multiple agents, such as social insects. Moreover, the data obtained from this system is fed into a mode-reconstruction module that generates low-complexity control programs, i.e. strings of symbolic descriptions of control-interrupt pairs, consistent with the empirical data. The result is a mechanism for going from the real system to an executable implementation that can be used for controlling multiple mobile robots.

• Type: Conference
• Year: 2005
• Where: ICRA
• Authors: Magnus Egerstedt, Tucker R. Balch, Frank Dellaert, Florent Delmotte, Zia Khan
• Keywords: Control Programs, ICRA 2005, Low-complexity Control Programs, Multiple Mobile Robots, Robotics