What Are the Ants Doing? Vision-Based Tracking and Reconstruction of Control Programs
| Title | What Are the Ants Doing? Vision-Based Tracking and Reconstruction of Control Programs |
| Publication Type | Conference Papers |
| Year of Publication | 2005 |
| Authors | Egerstedt M., Balch T, Dellaert F., Delmotte F., Khan Z |
| Conference Name | Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. ICRA 2005 |
| Date Published | 2005/04// |
| Keywords | Animals, Automatic generation control, Biological information theory, Computer vision, Control systems, Mobile robots, Probability distribution, Robot control, target tracking, Trajectory |
| Abstract | 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. |