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

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    Egerstedt05icra.pdf (324.0Kb)
    Date
    2005-04
    Author
    Balch, Tucker
    Dellaert, Frank
    Delmotte, Florent
    Khan, Zia
    Egerstedt, Magnus B.
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    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.
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    http://hdl.handle.net/1853/38411
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    • Computational Perception & Robotics [213]
    • Computational Perception & Robotics Publications [213]

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