Division of Labour in Self-Organised Groups (2009)
Roderich Groß, Shervin Nouyan, Michael Bonani, Francesco Mondada, Marco Dorigo
Abstract. In social insect colonies, many tasks are performed by higherorder entities, such as groups and teams whose task solving capacities transcend those of the individual participants. In this...
Group transport is performed in many natural systems and has become a canonical task for studying cooperation in robotics. We simulate a system of simple, insect-like robots that can move...
DOI 10.1007/s11590-006-0011-8 (2009)
Mauro Birattari, Marco Dorigo, M. Dorigo
How to assess and report the performance of a stochastic algorithm on a benchmark problem: mean or best result on a number of runs?
1 Fifty Years of Self-Assembly Experimentation (2009)
Abstract — In this paper, we review half a century of research on the design of systems displaying (physical) self-assembly of macroscopic components. We report on the experience gained in the...
1 Fifty Years of Self-Assembly Experimentation (2009)
Abstract — In this paper, we review half a century of research on the design of systems displaying (physical) self-assembly of macroscopic components. We report on the experience gained in the...
et de Développements en Intelligence Artificielle (2009)
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
WeC9.6 Performance Benefits of Self-Assembly in a Swarm-Bot (2009)
Roderich Groß, Anders Lyhne Christensen, Francesco Mondada, Michael Bonani, Marco Dorigo
Abstract — Mobile robots are said to be capable of selfassembly when they can autonomously form physical connections with each other. Despite the recent proliferation of selfassembling systems,...
Evolution, Self-organization and Swarm Robotics (2009)
Vito Trianni, Stefano Nolfi, Marco Dorigo
Summary. The activities of social insects are often based on a self-organising process, that is, “a process in which pattern at the global level of a system emerges solely from numerous...
SWARMORPH-script: a language for arbitrary morphology generation in self-assembling robots (2009)
Anders Lyhne, Christensen Rehan O’grady, Marco Dorigo, M. Dorigo
Abstract In certain multi-robot systems, the physical limitations of the individual robots can be overcome using self-assembly—the autonomous creation of physical connections between individual...
Lattice Formation in Space for a Swarm of Pico Satellites (2009)
Carlo Pinciroli, Mauro Birattari, Elio Tuci, Marco Dorigo, Tamas Vinko, ...
Abstract. We present a distributed control strategy that lets a swarm of satellites autonomously form a lattice in orbit around a planet. The system, based on the artificial potential field approach,...
Swarms of Self-assembling Robots (2009)
Abstract. In this talk I present recent research in swarm robotics, the discipline that studies robotic systems composed of swarms of robots tightly interacting and cooperating to reach their goals....
Marco Dorigo, Vito Trianni, Roderich Groß, H. Labella, Gianluca Baldassarre, ...
Abstract. In this paper, we introduce a self-assembling and self-organizing artifact, called a swarm-bot, composed of a swarm of s-bots, mobile robots with the ability to connect to and to disconnect...
Cooperation Through Self-Assembly in Multi-Robot Systems ELIO TUCI (2009)
Roderich Gross, Vito Trianni, Francesco Mondada, Michael Bonani, ...
This article illustrates the methods and results of two sets of experiments in which a group of mobile robots, called s-bots, are required to physically connect to each other, that is, to...
Carlo Pinciroli, Mauro Birattari, Elio Tuci, Marco Dorigo, Tamas Vinko, ...
Abstract — We present a scalable and distributed control strategy for swarms of satellites to autonomously form an hexagonal lattice in space around a predefined meeting point. The control strategy...
Enhancing the Cooperative Transport of Multiple Objects (2009)
Antoine Decugnière, Benjamin Poulain, Re Campo, Carlo Pinciroli, Bruno Tartini, Marco Dorigo, ...
Abstract. In this paper we present an approach to the cooperative transport of multiple objects in swarm robotics. The approach is motivated by the observation that the performance of cooperative...
Self-Assembly in Physical Autonomous Robots: the Evolutionary Robotics Approach (2009)
Elio Tuci, Christos Ampatzis, Vito Trianni, Anders Lyhne Christensen, Marco Dorigo
This research work illustrates the details of a methodological approach to the design of homogeneous neuro-controllers for self-assembly in physical autonomous robots in which no assumptions are made...
Teamwork in Self-Organised Robot Colonies (2009)
Shervin Nouyan, Roderich Groß, Michael Bonani, Francesco Mondada, Marco Dorigo
Abstract—Swarm robotics draws inspiration from decentralised, self-organising biological systems in general and from the collective behaviour of social insects in particular. In social insect...
From Solitary to Collective Behaviours: Decision Making and Cooperation (2009)
Vito Trianni, Anders Lyhne Christensen, Elio Tuci, Marco Dorigo, Stefano Nolfi
Abstract. In a social scenario, establishing whether a collaboration is required to achieve a certain goal is a complex problem that requires decision making capabilities and coordination among the...
A Comparison of Particle Swarm Optimization Algorithms Based on Run-Length Distributions (2009)
Marcoa. Montesdeoca, Mauro Birattari, Marco Dorigo
Abstract. In this paper we report an empirical comparison of some of the most influential Particle Swarm Optimization (PSO) algorithms based on run-length distributions (RLDs). The advantage of our...
HC-ACO: the hyper-cube framework for ant colony optimization (2009)
Christian Blum, Student Member, Marco Dorigo, Senior Member
Abstract—Ant colony optimization is a metaheuristic approach belonging to the class of model-based search algorithms. In this paper, we propose a new framework for implementing ant colony...
Enhancing the Cooperative Transport of Multiple Objects (2009)
Antoine Decugnière, Benjamin Poulain, Re Campo, Carlo Pinciroli, Bruno Tartini, Marco Dorigo, ...
Abstract. In this paper we present an approach to the cooperative transport of multiple objects in swarm robotics. The approach is motivated by the observation that the performance of cooperative...
BSWARM-BOT: Design and implementation of colonies of self-assembling robots (2009)
Marco Dorigo, Elio Tuci, Vito Trianni, Roderich Groβ, Shervin Nouyan, Christos Ampatzis, ...
Recently, there has been a growing interest in multi-robot systems. This interest is motivated by the fact that inherent parallelism and redundancy make multi-robot systems more robust than single...
John H. Holl, Lashon B. Booker, Marco Colombetti, Marco Dorigo, David E. Goldberg, Stephanie Forrest, ...
Abstract. We asked “What is a Learning Classifier System ” to some of the best-known researchers in the field. These are their answers. 1 John H. Holland Classifier systems are intended as a...
BSWARM-BOT: Design and implementation of colonies of self-assembling robots (2009)
Marco Dorigo, Elio Tuci, Vito Trianni, Roderich Groβ, Shervin Nouyan, Christos Ampatzis, ...
Recently, there has been a growing interest in multi-robot systems. This interest is motivated by the fact that inherent parallelism and redundancy make multi-robot systems more robust than single...
Evolving the “Feeling ” of Time Through Sensory-Motor Coordination: A Robot Based Model (2009)
Elio Tuci, Vito Trianni, Marco Dorigo
Abstract. In this paper, we aim to design decision-making mechanisms for an autonomous robot equipped with simple sensors, which integrates over time its perceptual experience in order to initiate a...
Evolving a cooperative transport behavior for two simple robots (2009)
Abstract. This paper addresses the problem of cooperative transport of an object by a group of two simple autonomous mobile robots called s-bots. S-bots are able to establish physical connections...
Abstract. This paper addresses the cooperative transport of a heavy object, called prey, towards a sporadically changing target location by a group of robots. The study is focused on the situation in...
Ecole Polytechnique, Fédérale Lausanne, Marco Dorigo
Abstract: We examine the ability of a swarm robotic system to transport cooperatively objects of different shapes and sizes. We simulate a group of autonomous mobile robots that can physically...
et de Développements en Intelligence Artificielle (2009)
Christos Ampatzis, Elio Tuci, Vito Trianni, Christos Ampatzis, Elio Tuci, ...
Evolving communicating agents that integrate information over time: a real robot experiment
Prasanna Balaprakash, Mauro Birattari, Thomas Stützle, Marco Dorigo
Abstract. Ant colony optimization algorithms are currently among the best performing algorithms for the quadratic assignment problem. These algorithms contain two main search procedures: solution...
Efficient Multi-foraging in Swarm Robotics (2009)
Abstract. In the multi-foraging task studied in this paper, a group of robots has to efficiently retrieve two different types of prey to a nest. Robots have to decide when they leave the nest to...
Strategies for the Increased Robustness of Ant-Based Clustering (2009)
Julia H, Joshua Knowles, Marco Dorigo
Abstract. This paper introduces a set of algorithmic modifications that improve the partitioning results obtained with ant-based clustering. Moreover, general parameter settings and a self-adaptation...
Mixed-Variable Optimization Problems (2009)
Krzysztof Socha, Marco Dorigo, Krzysztof Socha, Marco Dorigo
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Article An Open Localization and Local Communication Embodied Sensor (2009)
Álvaro Gutiérrez, Re Campo, Marco Dorigo, Daniel Amor, Luis Magdalena, Félix Monasterio-huelin
sensors
Transport of an object by six pre-attached robots interacting via physical links (2009)
Roderich Groß, Francesco Mondada, Marco Dorigo
Abstract — This paper addresses the cooperative transport of a heavy object by a group of mobile robots. We present a system in which group members lacking knowledge about the position of the...
Search bias in ant colony optimization: on the role of competition-balanced systems (2009)
Christian Blum, Marco Dorigo, Senior Member
Abstract—One of the problems encountered when applying ant colony optimization (ACO) to combinatorial optimization problems is that the search process is sometimes biased by algorithm features such...
389 Self-Organised Task Allocation in a Group of Robots (2009)
Thomas Halva Labella, Marco Dorigo, Jean-louis Deneubourg
jIdeneubourg^ulb.ac.be Summary. Robot foraging, a frequently used test application for collective robotics, consists in a group of robots retrieving a set of opportunely defined objects to a target...
Enhancing cooperative transport using negotiation of goal direction (2009)
Alexandre Campo, Shervin Nouyan, Mauro Birattari, Roderich Groß, Marco Dorigo
Swarm robotics is a relatively new approach to the coordination of a system composed of a large number of autonomous robots. The coordination among the robots is achieved in a self-organised manner:...
Object transport by modular robots that self-assemble (2009)
Roderich Groß, Elio Tuci, Marco Dorigo, Michael Bonani, Francesco Mondada
Abstract — We present a first attempt to accomplish a simple object manipulation task using the self-reconfigurable robotic system swarm-bot. The number of modular entities involved, their global...
Marco Dorigo, Marco Colombetti, Politecnico Di Milano
On behalf of:
Shervin Nouyan, Marco Dorigo, Shervin Nouyan, Marco Dorigo
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
et de Développements en Intelligence Artificielle (2009)
Elio Tuci, Christos Ampatzis, Marco Dorigo, Elio Tuci
Evolving neural mechanisms for an iterated
Lattice Formation in Space for a Swarm of Pico Satellites (2009)
Carlo Pinciroli, Mauro Birattari, Elio Tuci, Marco Dorigo, Tamas Vinko, ...
Abstract. We present a distributed control strategy that lets a swarm of satellites autonomously form a lattice in orbit around a planet. The system, based on the artificial potential field approach,...
Distributed Growth of Specific Structures Using Directional Self-Assembly (2009)
Lyhne Christensen, Marco Dorigo
For any robotic entity to complete a task efficiently, its morphology must be appropriate to the task. If the task is well-defined in advance, the morphology of a robotic entity can be prespecified...
Self-Organizing and Scalable Shape Formation for a Swarm of Pico Satellites (2009)
Carlo Pinciroli, Mauro Birattari, Elio Tuci, Marco Dorigo
Abstract — We present a scalable and distributed control strategy for swarms of satellites to autonomously form an hexagonal lattice in space around a predefined meeting point. The control strategy...
Lattice Formation in Space for a Swarm of Pico Satellites (2009)
Carlo Pinciroli, Mauro Birattari, Elio Tuci, Marco Dorigo, Tamas Vinko, ...
Abstract. We present a distributed control strategy that lets a swarm of satellites autonomously form a lattice in orbit around a planet. The system, based on the artificial potential field approach,...
Université Libre de Bruxelles (2009)
Marco Dorigo, Luca Maria Gambardella
We describe an artificial ant colony capable of solving the traveling salesman problem (TSP). Ants of the artificial colony are able to generate successively shorter feasible tours by using...
Feeling the Flow of Time trough Sensory-Motor Coordination (2009)
Elio Tuci, Vito Trianni, Marco Dorigo
In this paper, we aim to design decision-making mechanisms for an autonomous robot equipped with simple sensors, which integrates over time its perceptual experience in order to initiate a simple...
Lashon B. Booker, Marco Colombetti, Marco Dorigo, David E. Goldberg, Stephanie Forrest, Rick L. Riolo, ...
3, Wolfgang Stolzmann 9, and Stewart W. Wilson 5;10 1 University of Michigan, USA 2 The MITRE Corporation, USA
Towards Group Transport by Swarms of Robots (2009)
We examine the ability of a swarm robotic system to transport cooperatively objects of different shapes and sizes. We simulate a group of autonomous mobile robots that can physically connect to each...
Swarm-bots to the Rescue (2009)
O'Grady, Rehan, Pinciroli, Carlo, Groß, Roderich, Christensen, Anders Lyhne, Mondada, F., Bonani, Michael, ...
We explore the problem of resource allocation in a system made up of autonomous agents that can either carry out tasks individually or, when necessary, cooperate by forming physical connections with...
data appearing in this publication. Incremental Social Learning in Particle Swarms (2009)
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Jorge Peña, Carlo Pinciroli, Marco Dorigo
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Vito Trianni, Christos Ampatzis, Anders Lyhne Christensen, Elio Tuci, Marco Dorigo, Stefano Nolfi
Abstract. In a social scenario, establishing whether a collaboration is required to achieve a certain goal is a complex problem that requires decision making capabilities and coordination among the...
Cooperation through self-assembly in multi-robot systems (2008)
Libre Bruxelles Belgium, Roderich Gross, Vito Trianni, Michael Bonani, Marco Dorigo
This paper illustrates the methods and results of two sets of experiments in which a group of mobile robots, called s-bots, are required to physically connect to each other—i.e., to...
Performance Benefits of Self-Assembly in a Swarm-Bot (2008)
Roderich Groß, Anders Lyhne Christensen, Francesco Mondada, Michael Bonani, Marco Dorigo
Abstract — Mobile robots are said to be capable of selfassembly when they can autonomously form physical connections with each other. Despite the recent proliferation of selfassembling systems,...
Abstract We present two swarm intelligence control mechanisms used for distributed robot path formation. In our first approach the robots form linear chains. We study three variants of robot chains,...
Thomas Stützle, Mauro Birattari, Marco Dorigo
We compare seven Particle Swarm Optimization (PSO) algorithms using Run-Length Distributions (RLDs). RLDs measure the probability of finding a solution of a certain quality after some specific number...
Performance Benefits of Self-Assembly in a Swarm-Bot (2008)
Roderich Groß, Anders Lyhne Christensen, Francesco Mondada, Michael Bonani, Marco Dorigo
Abstract — Mobile robots are said to be capable of selfassembly when they can autonomously form physical connections with each other. Despite the recent proliferation of selfassembling systems,...
Prof Marco Dorigo, Roderich Groß, Roderich Groß, André Preumont, Hugues Bersini, Marco Dorigo, ...
Année académique 2007–2008 Thése présentée en vue de l’obtention du titre de Docteur en Sciences de l’Ingénieur
Gianluca Baldassarre, Vito Trianni, Michael Bonani, Francesco Mondada, Marco Dorigo, Stefano Nolfi
Abstract — An important goal of collective robotics is the design of control systems that allow groups of robots to accomplish common tasks by coordinating without centralized control. In this...
On the Invariance of Ant System (2008)
Mauro Birattari, Paola Pellegrini, Marco Dorigo
Abstract. It is often believed that the performance of ant system, and in general of ant colony optimization algorithms, depends somehow on the scale of the problem instance at hand. The issue has...
Prasanna Balaprakash, Mauro Birattari, Thomas Stützle, Marco Dorigo
Abstract. Ant colony optimization algorithms are currently among the best performing algorithms for the quadratic assignment problem. These algorithms contain two main search procedures: solution...
Exogenous Fault Detection in a Collective Robotic Task (2008)
Anders Lyhne Christensen, Mauro Birattari, Marco Dorigo
Abstract. In robotics, exogenous fault detection is the process through which one robot detects faults that occur in other, physically separate robots. In this paper, we study exogenous fault...
Parallel Multicolony ACO Algorithm with Exchange of Solutions (2008)
Max Manfrin, Mauro Birattari, Thomas Stützle, Marco Dorigo
The availability of parallel architectures at low cost, e.g. clusters of PCs connected through fast local networks like Gigabit Ethernet, has widened the interest for the parallelization of...
Mauro Birattari, Prasanna Balaprakash, Marco Dorigo
The paper introduces ACO/F-Race, an algorithm for tackling combinatorial optimization problems under uncertainty. The algorithm is based on ant colony optimization and on F-Race. The latter is a...
Enhancing cooperative transport using negotiation of goal direction (2008)
Alexandre Campo, Shervin Nouyan, Mauro Birattari, Roderich Groß, Marco Dorigo
Swarm robotics is a relatively new approach to the coordination of a system composed of a large number of autonomous robots. The coordination among the robots is achieved in a self-organised manner:...
Estimation-based Local Search for the Probabilistic Traveling Salesman Problem (2008)
Mauro Birattari, Prasanna Balaprakash, Thomas Stützle, Marco Dorigo
In this paper, we propose an effective local search algorithm that makes use of empirical estimation techniques for a class of stochastic combinatorial optimization problems. We illustrate our...
Group transport is being performed in many natural systems and has become a canonical task for studying cooperation in robotics. We simulate a system of simple, insect-like robots that can move...
Self-Assembly at the Macroscopic Scale (2008)
In this paper, we review half a century of research on the design of systems displaying (physical) self-assembly of macroscopic components. We report on the experience gained in the design of 22 such...
Division of Labour in Self-Organised Groups (2008)
Groß, Roderich, Nouyan, Shervin, Bonani, Michael, Mondada, F., Dorigo, Marco
In social insect colonies, many tasks are performed by higher-order entities, such as groups and teams whose task solving capacities transcend those of the individual participants. In this paper, we...
An Open Localization and Local Communication Embodied Sensor (2008)
Alvaro Gutiérrez, Alexandre Campo, Marco Dorigo, Daniel Amor, Luis Magdalena, Félix Monasterio-Huelin
In this paper we describe a localization and local communication system which allows situated agents to communicate locally, obtaining at the same time both the range and the bearing of the emitter...
Categorization and Communication (2008)
Christos Ampatzis, Elio Tuci, Vito Trianni, Marco Dorigo, Christos Ampatzis, Elio Tuci, ...
On behalf of:
Carlo Pinciroli, Mauro Birattari, Elio Tuci, Marco Dorigo, Tamas Vinko, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
in Self-Organised Robot Colonies (2008)
Shervin Nouyan, Roderich Groß, Michael Bonani, Francesco Mondada, Marco Dorigo, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Prasanna Balaprakash, Mauro Birattari, Thomas Stützle, Marco Dorigo, Prasanna Balaprakash, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
this publication. Evolving Autonomous Self-Assembly in Homogeneous Robots (2008)
Christos Ampatzis, Elio Tuci, Vito Trianni, Lyhne Christensen, Marco Dorigo, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Roderich Groß, Marco Dorigo, Roderich Groß, Marco Dorigo
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
and Local Search for the Probabilistic Traveling Salesman Problem (2008)
Prasanna Balaprakash, Mauro Birattari, Thomas Stützle, Zhi Yuan, Marco Dorigo, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Álvaro Gutiérrez, Re Campo, Marco Dorigo, Daniel Amor, Luis Magdalena, Félix Monasterio-huelin, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Transport of Multiple Objects in the Swarmanoid Project (2008)
Antoine Decugnière, Benjamin Poulain, Re Campo, Carlo Pinciroli, Bruno Tartini, Michel Osee, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsibility for any copyright...
Anders Lyhne, Christensen Rehan O’grady, Mauro Birattari, Marco Dorigo, A. L. Christensen, M. Birattari, ...
Abstract In this paper, we study a new approach to fault detection for autonomous robots. Our hypothesis is that hardware faults change the flow of sensory data and the actions performed by the...
Elio Tuci, Christos Ampatzis, Federico Vicentini Y, Politecnico Di Milano, Marco Dorigo
Abstract This article describes a simulation model in which artificial evolution is used to design homogeneous control structures and adaptive communication protocols for a group of three autonomous...
Swarm Optimization Algorithm (2008)
Thomas Stützle, Mauro Birattari, Marco Dorigo, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
the Evolutionary Robotics Approach (2008)
Elio Tuci, Christos Ampatzis, Vito Trianni, Lyhne Christensen, Marco Dorigo, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
data appearing in this publication. From Fireflies to Fault Tolerant Swarms of Robots (2008)
Anders Lyhne Christensen, Marco Dorigo, Anders Lyhne Christensen, Marco Dorigo
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
for Autonomous Robots Capable of Self-Assembling (2008)
Roderich Gro, Marco Dorigo, Roderich Groß, Marco Dorigo
On behalf of:
Michael Sampels, Mauro Birattari, Marco Chiarandini, Marco Dorigo, Luca M. Gambardella, Joshua Knowles
A comparison of the performance of dierent metaheuristics on the timetabling problem
Abstract:- Ant Colony Optimization (ACO) is a recently proposed metaheuristic inspired by the foraging behavior of ant colonies. Although it has been experimentally shown to be highly eective on a...
Marco Dorigo, Mark Zlochin, Nicolas Meuleau, Mauro Birattari
Abstract In this paper we introduce two systematic approaches, based on the stochastic gradient ascent algorithm and the cross-entropy method, for deriving the pheromone update rules in the Ant...
Leonora Bianchi, Luca Maria Gambardella, Marco Dorigo
Abstract. The Probabilistic Traveling Salesman Problem (PTSP) is a TSP problem where each customer has a given probability of requiring a visit. The goal is to nd an a priori tour of minimal expected...
search for combinatorial optimization: A comparative study
Christian Blum, Marco Dorigo, Ben Paechter, Olivia Rossi-doria, Marko Snoek
A GA evolving instructions for a timetable builder
Université Libre de Bruxelles (2007)
Marco Dorigo, Luca Maria Gambardella
We describe an artificial ant colony capable of solving the traveling salesman problem (TSP). Ants of the artificial colony are able to generate successively shorter feasible tours by using...
Matthijs Den Besten, Thomas Stutzle, Marco Dorigo
In this extended abstract we present an algorithm based on the Ant Colony Optimization (ACO) metaheuristic for the single machine total weighted tardiness problem, a well known NP--hard scheduling...
Matthijs Den Besten, Thomas Stutzle, Marco Dorigo
Abstract. In this article we investigate the application of iterated local search (ILS) to the single machine total weighted tardiness problem. Our research is inspired by the recently proposed...
Gianni Di Caro, Marco Dorigo, Libre Bruxelles Belgium
adaptive multi-agent routing algorithm
Université Libre de Bruxelles (2007)
Marco Dorigo, Luca Maria Gambardella
We describe an artificial ant colony capable of solving the traveling salesman problem (TSP). Ants of the artificial colony are able to generate successively shorter feasible tours by using...
Matthijs Den Besten, Thomas Stutzle, Marco Dorigo
Abstract. In this article we investigate the application of iterated local search (ILS) to the single machine total weighted tardiness problem. Our research is inspired by the recently proposed...
Progetto Intelligenza, Artificiale Robotica, Marco Dorigo, Marco Dorigo, Marco Dorigo, ...
In this article we investigate the feasibility of using learning classifier systems as a tool for building adaptive control systems for real robots. Their use on real robots imposes efficiency...
A Society of Ant-Like Agents for (2007)
Adaptive Routing In, Gianni Di Caro, Marco Dorigo
This thesis introduces AntNet, a novel approach to the adaptive learning of routing tables in communications networks. AntNet is a distributed, mobile agents based Monte Carlo system that was...
Ant Colonies for the Traveling Salesman Problem (2007)
Marco Dorigo, Luca Maria Gambardella
We describe an artificial ant colony capable of solving the traveling salesman problem (TSP). Ants of the artificial colony are able to generate successively shorter feasible tours by using...
Model-based Search for Combinatorial Optimization: A Critical Survey (2007)
Tec Rep Iridia, Nicolas Meuleau, Marco Dorigo
Abstract. In this paper we introduce model-based search as a unifying framework accommodating some recently proposed metaheuristics for combinatorial optimization such as ant colony optimization,...
Performance Benefits of Self-Assembly in a Swarm-Bot (2007)
O'Grady, Rehan, Groß, Roderich, Christensen, Anders Lyhne, Mondada, F., Bonani, Michael, Dorigo, Marco
Mobile robots are said to be capable of self-assembly when they can autonomously form physical connections with each other. Despite the recent proliferation of self-assembling systems, little work...
Fifty years of self-assembly experimentation (2007)
In this paper, we review half a century of research on the design of systems displaying (physical) self-assembly of macroscopic components. We report on the experience gained in the study of 22 such...
An Experimental Study of (2007)
Prasanna Balaprakash, Mauro Birattari, Thomas Stützle, Marco Dorigo
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Thomas Stützle, Mauro Birattari, Marco Dorigo, Thomas Stützle
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Roderich Groß, Marco Dorigo, Roderich Groß, Marco Dorigo
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Estimation-based local search for stochastic combinatorial optimization (2007)
Mauro Birattari, Mauro Birattari, Prasanna Balaprakash, Prasanna Balaprakash, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Performance Benefits of Self-Assembly in a Swarm-Bot (2007)
Roderich Groß, Anders Lyhne Christensen, Francesco Mondada, Michael Bonani, Marco Dorigo, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Sampling Strategies and Local Search for Stochastic Combinatorial Optimization (2007)
Prasanna Balaprakash, Mauro Birattari, Thomas Stützle, Marco Dorigo, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Fault detection in autonomous robots based on fault injection and learning (2007)
Anders Lyhne, Christensen Rehan O’grady, Mauro Birattari, Marco Dorigo, A. L. Christensen, M. Birattari, ...
Abstract In this paper, we study a new approach to fault detection for autonomous robots. Our hypothesis is that hardware faults change the flow of sensory data and the actions performed by the...
Anders Lyhne Christensen, Mauro Birattari, Marco Dorigo, Anders Lyhne Christensen, Mauro Birattari, Marco Dorigo
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Estimation-based local search for stochastic combinatorial optimization (2007)
Mauro Birattari, Prasanna Balaprakash, Thomas Stützle, Marco Dorigo
informs doi 10.1287/ijoc.1080.0276
Particle Swarm Optimization Algorithm (2007)
Thomas Stützle, Mauro Birattari, Marco Dorigo, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
A mechanism to self-assemble patterns with autonomous robots (2007)
Anders Lyhne Christensen, Marco Dorigo
Abstract. There are examples of robotic systems in which autonomous mobile robots self-assemble into larger connected entities. However, existing systems display little or no autonomous control over...
et de Développements en Intelligence Artificielle (2007)
A Complete Analysis, Prasanna Balaprakash, Mauro Birattari, Thomas Stützle, Marco Dorigo, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
SWARM-BOT: Design and Implementation of Colonies of Self-Assembling Robots (2006)
Dorigo, Marco, Tuci, Elio, Trianni, Vito, Groß, Roderich, Nouyan, Shervin, Ampatzis, Christos, ...
Object Transport by Modular Robots that Self-assemble (2006)
Groß, Roderich, Tuci, Elio, Dorigo, Marco, Bonani, Michael, Mondada, F.
Autonomous Self-assembly in Swarm-Bots (2006)
Groß, Roderich, Bonani, Michael, Mondada, F., Dorigo, Marco
In this paper, we discuss the self-assembling capabilities of the swarm-bot, a distributed robotics concept that lies at the intersection between collective and self-reconfigurable robotics. A...
Cooperation through self-assembly in multi-robot (2006)
Tuci, Elio, Groß, Roderich, Trianni, Vito, Mondada, Francecso, Bonani, Michael, Dorigo, Marco
This article illustrates the methods and results of two sets of experiments in which a group of mobile robots, called s-bots, are required to physically connect to each other, that is, to...
Group Transport Along a Robot Chain in a Self-Organised Robot Colony (2006)
Nouyan, Shervin, Groß, Roderich, Dorigo, Marco, Bonani, Michael, Mondada, F.
We study groups of autonomous robots engaged in a foraging task as typically found in some ant colonies. The task is to find a prey object and a nest object, establish a path between the two, and...
Autonomous Self-assembly in a Swarm-bot (2006)
Groß, Roderich, Bonani, Michael, Mondada, F., Dorigo, Marco
Multi-robot systems have been studied in tasks that require the robots to be physically linked. In such a configuration, a group of robots may navigate a terrain that proves too difficult for a...
Self-assembly of mobile robots - From swarm-bot to super-mechano colony (2006)
Groß, Roderich, Dorigo, Marco, Yamakita, Masaki
Up to now, only a few collective or modular robot systems have proven capable of letting separate and autonomous units, or groups of units, self-assemble. In each case, ad hoc control algorithms have...
Negotiation of goal direction for cooperative transport (2006)
Campo, Alexandre, Nouyan, Shervin, Birattari, Mauro, Groß, Roderich, Dorigo, Marco
In this paper, we study the cooperative transport of a heavy object by a group of robots towards a goal. We investigate the case in which robots have partial and noisy knowledge of the goal direction...
Enhancing cooperative transport using negotiation of goal direction (2006)
Campo, Alexandre, Nouyan, Shervin, Birattari, Mauro, Groß, Roderich, Dorigo, Marco
Universit Libre de Bruxelles (2006)
Cooperative Transport, Re Campo, Shervin Nouyan, Mauro Birattari, Roderich Groß, ...
In this paper, we study the cooperative transport of a heavy object by a group of robots towards a goal. We investigate the case in which robots have partial and noisy knowledge of the goal direction...
Parallel ant colony optimization for the traveling salesman problem (2006)
Max Manfrin, Max Manfrin, Mauro Birattari, Mauro Birattari, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
A comparison of particle swarm optimization algorithms based on run-length distributions (2006)
Marco Dorigo, Thomas Stützle, Thomas Stützle, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Ant Colony Optimization – Artificial Ants as a Computational Intelligence Technique (2006)
Marco Dorigo, Mauro Birattari, Thomas Stützle, De Bruxelles
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsibility for any copyright...
Negotiation of goal direction for cooperative transport (2006)
Re Campo, Shervin Nouyan, Mauro Birattari, Roderich Groß, Marco Dorigo
Abstract. In this paper, we study the cooperative transport of a heavy object by a group of robots towards a goal. We investigate the case in which robots have partial and noisy knowledge of the goal...
Roderich Groß, Michael Bonani, Francesco Mondada, Marco Dorigo, Roderich Groß, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Roderich Groß, Marco Dorigo, Roderich Groß, Marco Dorigo
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
On the Invariance of Ant Colony Optimization for the Traveling Salesman Problem (2006)
Mauro Birattari, Paola Pellegrini, Marco Dorigo, Mauro Birattari, Paola Pellegrini, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsibility for any copyright...
Parallel ant colony optimization for the traveling salesman problem (2006)
Max Manfrin, Mauro Birattari, Thomas Stützle, Marco Dorigo
Abstract. There are two reasons for parallelizing a metaheuristic if one is interested in performance: (i) given a fixed time to search, the aim is to increase the quality of the solutions found in...
Ant Colony Optimization – Artificial Ants as a Computational Intelligence Technique (2006)
Marco Dorigo, Mauro Birattari, Thomas Stützle
Swarm intelligence is a relatively new approach to problem solving that takes inspiration from the social behaviors of insects and of other animals. In particular, ants have inspired a number of...
M.: On the invariance of ant colony optimization (2006)
Mauro Birattari, Paola Pellegrini, Marco Dorigo
Abstract—Ant colony optimization (ACO) is a promising metaheuristic and a great amount of research has been devoted to its empirical and theoretical analysis. Recently, with the introduction of the...
Metaheuristics such as Ant Colony Optimization, Evolutionary Computation, (2006)
Leonora Bianchi, Marco Dorigo, Luca Maria Gambardella, Walter J. Gutjahr
A comparison of particle swarm optimization algorithms based on run-length distributions (2006)
Thomas Stützle, Mauro Birattari, Marco Dorigo
Abstract. In this paper we report an empirical comparison of some of the most influential Particle Swarm Optimization (PSO) algorithms based on run-length distributions (RLDs). The advantage of our...
A comparison of particle swarm optimization algorithms based on run-length distributions (2006)
Thomas Stützle, Mauro Birattari, Marco Dorigo
Abstract. In this paper we report an empirical comparison of some of the most influential Particle Swarm Optimization (PSO) algorithms based on run-length distributions (RLDs). The advantage of our...
in Ant Colony Optimization: Why it Fails for the Quadratic Assignment Problem (2006)
Prasanna Balaprakash, Mauro Birattari, Stützle Marco Dorigo, Prasanna Balaprakash, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
The ACO/F-RACE algorithm for combinatorial optimization under uncertainty (2006)
Mauro Birattari, Prasanna Balaprakash, Marco Dorigo
Abstract The paper introduces ACO/F-Race, an algorithm for tackling combinatorial optimization problems under uncertainty. The algorithm is based on ant colony optimization and on F-Race. The latter...
M.: On the invariance of ant colony optimization (2006)
Mauro Birattari, Mauro Birattari, Paola Pellegrini, Paola Pellegrini, Marco Dorigo, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsibility for any copyright...
Optimization Letters DOI 10.1007/s11590-006-0011-8 SHORT (2006)
Mauro Birattari, Marco Dorigo, M. Dorigo, M. Birattari, M. Dorigo
How to assess and report the performance of a stochastic algorithm on a benchmark problem: mean or best result on a number of runs?
Transport of an object by six pre-attached robots interacting via physical links (2006)
Roderich Groß, Francesco Mondada, Marco Dorigo
Abstract — This paper addresses the cooperative transport of a heavy object by a group of mobile robots. We present a system in which group members lacking knowledge about the position of the...
Autonomous self-assembly in swarmbots (2006)
Roderich Groß, Michael Bonani, Francesco Mondada, Marco Dorigo
Summary. Multi-robot systems have been studied in tasks that require the robots to be physically linked. In such a configuration, a group of robots may navigate a terrain that proves too difficult...
Elio Tuci, Christos Ampatzis, Federico Vicentini, Marco Dorigo, Elio Tuci, ...
Evolving homogeneous neuro-controllers for a group of heterogeneous robots: coordinated motion, cooperation, and communication
Categorization and Communication (2006)
Christos Ampatzis, Elio Tuci, Vito Trianni, Christos Ampatzis, Elio Tuci, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
et de Développements en Intelligence Artificielle (2006)
Elio Tuci, Christos Ampatzis, Federico Vicentini, Marco Dorigo, Elio Tuci, ...
Operational aspects of the evolved signalling behaviour in a group of cooperating and communicating robots
Christos Ampatzis, Elio Tuci, Vito Trianni, Christos Ampatzis, Elio Tuci, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Group of Robots with Different Sensory Capabilities: Coordinated Motion and Cooperation (2006)
Elio Tuci, Christos Ampatzis, Federico Vicentini, Marco Dorigo, Elio Tuci, ...
Evolved homogeneous neuro-controllers for robots with different sensory capabilities: coordinated motion and cooperation
Object transport by modular robots that selfassemble (2006)
Roderich Groß, Elio Tuci, Marco Dorigo, Michael Bonani, Francesco Mondada
Abstract — We present a first attempt to accomplish a simple object manipulation task using the self-reconfigurable robotic system swarm-bot. The number of modular entities involved, their global...
Categorization and Communication (2006)
Christos Ampatzis, Elio Tuci, Vito Trianni, Christos Ampatzis, Elio Tuci, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Division of labor in a group of robots inspired by ants’ foraging behavior (2006)
Thomas H. Labella, Marco Dorigo
In this article, we analyze the behavior of a group of robots involved in an object retrieval task. The robots ’ control system is inspired by a model of ants ’ foraging. This model emphasizes...
Marco Dorigo, Elio Tuci, Roderich Groß, Vito Trianni, Halva Labella, Shervin Nouyan, ...
Abstract. This paper provides an overview of the SWARM-BOTS project, a robotic project sponsored by the Future and Emerging Technologies program of the European Community (IST-2000-31010). The paper...
On the Invariance of Ant System (2005)
Mauro Birattari, Paola Pellegrini, Marco Dorigo, Mauro Birattari, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsibility for any copyright...
Marco Dorigo, Elio Tuci, Roderich Groß, Vito Trianni, Thomas Halva Labella, Thomas Halva, ...
This paper provides an overview of the SWARM-BOTS project, a robotic project sponsored by the Future and Emerging Technologies program of the European Commission. The paper illustrates the goals of...
Autonomous Self-assembly in a Swarm-bot (2005)
Roderich Groß, Michael Bonani, Francesco Mondada, Marco Dorigo
This paper is about swarm-bot, a robotic system that can operate in both configurations and autonomously switch from one to the other
Self-assembly of Mobile Robots: From Swarm-bot to Super-mechano Colony (2005)
Roderich Groß, Marco Dorigo, Masaki Yamakita
Up to now, only a few collective or modular robot systems have proven capable of letting separate and autonomous units, or groups of units, self-assemble. In each case, ad hoc control algorithms have...
Group Transport along a Robot Chain in a Self-Organised Robot Colony (2005)
Shervin Nouyan, Roderich Groß, Marco Dorigo, Michael Bonani, Francesco Mondada, ...
We study groups of autonomous robots engaged in a foraging task as typically found in some ant colonies. The task is to find a prey object and a nest object, establish a path between the two, and...
Object Transport by Modular Robots that Self-assemble (2005)
Francesco Mondada, Marco Dorigo, Roderich Groß, Roderich Groß, Elio Tuci, ...
We present the first attempt to accomplish a simple manipulation task by a set of randomly scattered modules that self-assemble into a modular robot. The manipulation consists in the transport of a...
Autonomous Self-assembly in Mobile Robotics (2005)
Roderich Groß, Michael Bonani, Francesco Mondada, Marco Dorigo
In this paper, we present a comprehensive study on autonomous self-assembly. In particular, we discuss the selfassembling capabilities of the swarm-bot, a distributed robotics concept that lies at...
Francesco Mondada, Marco Dorigo, Roderich Groß, Roderich Groß
We study the cooperative transport of a heavy object by a group of mobile robots. The system is fully decentralized and the information flow between the robots is limited to physical interactions....
Marco Dorigo, Elio Tuci, Vito Trianni, Thomas Halva Labella, Shervin Nouyan, Jean-louis Deneubourg, ...
Abstract. This paper provides an overview of the SWARM-BOTS project, a robotic project sponsored by the Future and Emerging Technologies program of the European Commission. The paper illustrates the...
Heterogeneous Dynamic Task Allocation Problem (2005)
Roberto Ghizzioli, Shervin Nouyan, Mauro Birattari Andmarcodorigo, Roberto Ghizzioli, Shervin Nouyan, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Published by: IRIDIA, Institut de Recherches Interdisciplinaires (2005)
How to assess and report the performance of a stochastic algorithm on a benchmark problem: Mean or best result on a number of runs?
An Insect-Based Algorithm for the Dynamic (2005)
Shervin Nouyan, Roberto Ghizzioli, Mauro Birattari Andmarcodorigo, Künstliche Intelligenz, Shervin Nouyan, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Roderich Groß, Francesco Mondada, Michael Bonani, Marco Dorigo, Roderich Groß, Francesco Mondada, ...
Self-assembly on demand in a group of
et de Développements en Intelligence Artificielle (2005)
Mauro Birattari, Prasanna Balaprakash, Marco Dorigo
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
et de Développements en Intelligence Artificielle (2005)
Elio Tuci, Roderich Groß, Vito Trianni, Francesco Mondada, Michael Bonani, Marco Dorigo, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Elio Tuci, Roderich Groß, Vito Trianni, Michael Bonani, Marco Dorigo
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Roderich Groß, Michael Bonani, Francesco Mondada, Marco Dorigo, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
www.elsevier.com/locate/ejor Ant colony optimization for continuous domains (2005)
In this paper we present an extension of ant colony optimization (ACO) to continuous domains. We show how ACO, which was initially developed to be a metaheuristic for combinatorial optimization, can...
data appearing in this publication. EMERGENT COLLECTIVE DECISIONS IN A SWARM OF ROBOTS (2005)
Marco Dorigo, Vito Trianni, Vito Trianni, Marco Dorigo
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Emergent Collective Decisions in a Swarm of Robots (2005)
A swarm robotic system is normally characterised by many individuals, each having a partial/limited knowledge about the global pattern of which it constitutes an element. In such a system,...
Krzysztof Socha, Marco Dorigo, Krzysztof Socha, Marco Dorigo
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Marco Dorigo, Elio Tuci, Vito Trianni, Thomas Halva Labella, Shervin Nouyan, Jean-louis Deneubourg, ...
Abstract. This paper provides an overview of the SWARM-BOTS project, a robotic project sponsored by the Future and Emerging Technologies program of the European Commission. The paper illustrates the...
et de Développements en Intelligence Artificielle (2005)
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
et de Développements en Intelligence Artificielle (2005)
Roderich Groß, Francesco Mondada, Michael Bonani, Marco Dorigo, Roderich Groß, ...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Evolving neural mechanisms for an iterated discrimination task: A robot based model (2005)
Elio Tuci, Christos Ampatzis, Marco Dorigo
Abstract. This paper is about the design of an artificial neural network to control an autonomous robot that is required to iteratively solve a discrimination task based on time-dependent structures....
Swarm-bot: An experiment in swarm robotics (2005)
This paper provides an overview of the SWARM-BOTS project, a robotics project sponsored by the Future and Emerging Technologies program of the European Commission (IST-2000-31010). We describe the...
in Groups of Simulated and Physical Robots (2005)
Vito Trianni, Marco Dorigo, Vito Trianni, Marco Dorigo
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Self-Organized Coordinated Motion in Groups of Physically Connected Robots (2005)
Gianluca Baldassarre, Vito Trianni, Michael Bonani, Francesco Mondada, Associate Member, Marco Dorigo, ...
Abstract—An important goal of collective robotics is the design of control systems that allow groups of robots to accomplish common tasks by coordinating without a centralized control. In this...
Evolving communicating agents that integrate information over time: a real robot experiment (2005)
Christos Ampatzis, Elio Tuci, Vito Trianni, Marco Dorigo
Abstract. In this paper we aim at designing artificial neural networks to control two autonomous robots that are required to solve a discrimination task based on time-dependent structures. The...
Swarm-bot: A novel type of self-assembling robot (2005)
mdorigo(9ulb. ac. be Swarm robotics [3] is a relatively new and rapidly growing field in collective robotics. It involves the study of robotic systems made up of cooperating robots. I have been...
Dorigo, Marco, Tuci, Elio, Groß, Roderich, Trianni, Vito, Labella, Thomas Halva, Nouyan, Shervin, ...
This paper provides an overview of the SWARM-BOTS project, a robotic project sponsored by the Future and Emerging Technologies program of the European Community (IST-2000-31010). The paper...
Evolving Self-Organizing Behaviors for a Swarm-bot (2004)
Dorigo, Marco, Trianni, Vito, Sahin, Erol, Groß, Roderich, Labella, Thomas Halva, Baldassarre, Gianluca, ...
In this paper, we introduce a self-assembling and self-organizing artifact, called a swarm-bot, composed of a swarm of s-bots, mobile robots with the ability to connect to and to disconnect from each...
Evolving a cooperative transport behavior for two simple robots (2004)
This paper addresses the problem of cooperative transport of an object by a group of two simple autonomous mobile robots called s-bots. S-bots are able to establish physical connections between each...
Cooperative transport of objects of different shapes and sizes (2004)
This paper addresses the design of control policies for groups of up to 16 simple autonomous mobile robots (called s-bots) for the cooperative transport of heavy objects of different shapes and...
Group transport of an object to a target that only some group members may sense (2004)
This paper addresses the cooperative transport of a heavy object, called prey, towards a sporadically changing target location by a group of robots. The study is focused on the situation in which...
Ant colony optimization / (2004)
Stützle, Thomas G., Dorigo, Marco.
Darmstadt, Techn. Universiẗat, Habil.-Schr.
Evolution of direct communication for a swarm-bot performing hole avoidance (2004)
Vito Trianni, Thomas H. Labella, Marco Dorigo
Abstract. Communication is often required for coordination of collective behaviours. Social insects like ants, termites or bees make use of different forms of communication, which can be roughly...
Hole avoidance: Experiments in coordinated motion on rough terrain (2004)
Vito Trianni, Stefano Nolfi, Marco Dorigo
Abstract In this paper, we study coordinated motion in a swarm robotic system,
Mark Zlochin, Marco Dorigo, Mauro Birattari
A number of methodological papers published during the last years, testify that a need for a thorough revision of the research methodology is felt by the operations research community—see, for...
Evolving self-organizing behaviors for a swarm-bot (2004)
Marco Dorigo, Vito Trianni, Roderich Groß, Thomas H. Labella, Gianluca Baldassarre, Stefano Nolfi, ...
In this paper, we introduce a self-assembling and self-organizing artifact, called a swarm-bot, composed of a swarm of s-bots, mobile robots with the ability to connect to and to disconnect from each...
Hole Avoidance: Experiments in Coordinated Motion on Rough Terrain (2004)
Vito Trianni, Stefano Nolfi, Marco Dorigo
In this paper, we study coordinated motion in a swarm robotic system, called a swarm-bot. A swarm-bot is a self-assembling and self-organizing artifact, composed of a swarm of s-bots, mobile robots...
Group Transport of an Object to a Target that Only Some Group Members May Sense (2004)
This paper addresses the cooperative transport of a heavy object, called prey, towards a sporadically changing target location by a group of robots. The study is focused on the situation in which...
Efficiency and Task Allocation in Prey Retrieval (2004)
Thomas H. Labella, Marco Dorigo, Jean-louis Deneubourg
Prey retrieval, also known as foraging, is a widely used test application in collective robotics. The task consists in searching for objects spread in the environment and in bringing them to a...
Evolution of Direct Communication for a Swarm-bot Performing Hole Avoidance (2004)
Vito Trianni, Thomas H. Labella, Marco Dorigo
Communication is often required for coordination of collective behaviours. Social insects like ants, termites or bees make use of different forms of communication, which can be roughly classified in...
Evolving Self-Organizing Behaviors for a Swarm-bot (2004)
Marco Dorigo, Vito Trianni, Erol Sahin, Roderich Groß, Thomas H. Labella, Gianluca Baldassarre, ...
In this paper, we introduce a self-assembling and self-organizing artifact, called a swarm-bot, composed of a swarm of s-bots, mobile robots with the ability to connect to and to disconnect from each...
Self-Organised Task Allocation in a Group of Robots (2004)
Thomas H. Labella, Thomas H. Labella, Marco Dorigo, Marco Dorigo, Jean-louis Deneubourg, Jean-louis Deneubourg
this paper we describe a biology inspired method for tuning the number of foraging robots in order to improve the group e#ciency. As a result of our experiments, in which robots use only locally...
Cooperative Transport of Objects of Different Shapes and Sizes (2004)
This paper addresses the design of control policies for groups of up to 16 simple autonomous mobile robots (called s-bots) for the cooperative transport of heavy objects of di#erent shapes and sizes....
Special Issue on Ant Algorithms (2004)
Selection Of The, Marco Dorigo, Gianni Di Caro
Introduction Colonies of social insects can exhibit an amazing variety of complex behaviors and have captured, since ever, the interest of biologists and entomologists. More recently, computer...
An ant-based algorithm for the dynamic task allocation problem (2004)
Shervin Nouyan, Roberto Ghizzioli, Mauro Birattari, Marco Dorigo
An insect-based algorithm inspired by the division of labor in insect colonies is proposed and applied to the solution of an online scheduling problem. A painting facility is considered for...
Evolving self-organizing behaviors for a swarm-bot (2004)
Marco Dorigo, Vito Trianni, Roderich Groß, Thomas H. Labella, Gianluca Baldassarre, Stefano Nolfi, ...
In this paper, we introduce a self-assembling and self-organizing artifact, called a swarm-bot, composed of a swarm of s-bots, mobile robots with the ability to connect to and to disconnect from each...
Evolving self-organizing behaviors for a swarm-bot (2004)
Marco Dorigo, Vito Trianni, Thomas H. Labella, Roderich Gross, Gianluca Baldassarre, Stefano Nolfi, ...
Swarm robotics is an emergent field of collective robotics that, taking inspiration from insect societies, studies the development of distributed, robust and efficient groups of interacting robots....
et de Développements en Intelligence Artificielle (2004)
Gianni Di Caro, Promoteur Prof, Marco Dorigo
In ant societies, and, more in general, in insect societies, the activities of the individuals, as well as of the society as a whole, are not regulated by any explicit form of centralized control. On...
Model-based search for combinatorial optimization: A critical survey (2004)
Mark Zlochin, Mark Zlochin, Mauro Birattari, Mauro Birattari, Nicolas Meuleau, Nicolas Meuleau, ...
In this paper we introduce model-based search as a unifying framework accommodating some recently proposed heuristics for combinatorial optimization such as ant colony optimization, stochastic...
In ant societies, and, more in general, in insect societies, the activities of the individuals, as well asofthesocietyasawhole,arenotregulatedbyanyexplicitformofcentralizedcontrol. Onthe other hand,...
Cooperative transport of objects of different shapes and sizes (2004)
Abstract. This paper addresses the design of control policies for groups of up to 16 simple autonomous mobile robots (called s-bots) for the cooperative transport of heavy objects of different shapes...
The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright...
Evolving aggregation behaviors in a swarm of robots (2003)
Trianni, Vito, Groß, Roderich, Labella, Thomas Halva, Sahin, Erol, Dorigo, Marco
In this paper, we study aggregation in a swarm of simple robots, called s-bots, having the capability to self-organize and self-assemble to form a robotic system, called a swarm-bot. The aggregation...
Evolving aggregation behaviors in a swarm of robots (2003)
Vito Trianni, Roderich Groß, Thomas H. Labella, Marco Dorigo
Abstract. In this paper, we study aggregation in a swarm of simple robots, called s-bots, having the capability to self-organize and selfassemble to form a robotic system, called a swarm-bot. The...
Joshua Knowles, J. Knowles, Marco Dorigo
Ant-based clustering and sorting is a nature-inspired heuristic for general clustering tasks. It has been applied variously, from problems arising in commerce, to circuit design, to text-mining, all...
Evolving Aggregation Behaviors in a Swarm of Robots (2003)
Vito Trianni, Roderich Groß, Thomas H. Labella, Erol Sahin, Marco Dorigo
In this paper, we study aggregation in a swarm of simple robots, called s-bots, having the capability to self-organize and selfassemble to form a robotic system, called a swarm-bot. The aggregation...
Evolving Self-Organizing Behaviors for a Swarm-bot (2003)
M. Dorigo, V. Trianni, E. Sahin, T. H. Labella, R. Gross, G. Baldassarre, ...
Swarm robotics is an emergent field of collective robotics that, taking inspiration from insect societies, studies the development of distributed, robust and e#cient groups of interacting robots. In...
Swarm-Bots: Swarm of Mobile Robots able to Self-Assemble and Self-Organize (2003)
Nolfi, Stefano, Denebourg, Jean-Luis, Floreano, Dario, Gambardella, Luca, Mondada, Francesco, Dorigo, Marco
Ant colony optimization and stochastic gradient descent (2002)
In this paper, we study the relationship between the two techniques known as ant colony optimization (aco) and stochastic gradient descent. More precisely, we show that some empirical aco algorithms...
A comparison of the performance of different metaheuristics on the timetabling problem (2002)
Olivia Rossi-doria, Michael Sampels, Mauro Birattari, Marco Chiar, Marco Dorigo, Luca M. Gambardella, ...
problem
SWARM-BOT: Pattern formation in a swarm of self-assembling mobile robots (2002)
Thomas H. Labella, Vito Trianni, Jean-louis Deneubourg, Philip Rasse, Dario Floreano, Luca Gambardella, ...
Abstract — In this paper we introduce a new robotic system, called swarm-bot. The system consists of a swarm of mobile robots with the ability to connect to/disconnect from each other to...
Toward the formal foundation of ant programming (2002)
Mauro Birattari, Gianni Di Caro, Marco Dorigo
Abstract This paper develops the formal framework of ant programming with the goal of gaining a deeper understanding on ant colony optimization and, more in general, on the principles underlying the...
Solving the homogeneous probabilistic travelling salesman problem by the ACO metaheuristic (2002)
Leonora Bianchi, Luca Maria Gambardella, Marco Dorigo
Abstract. The Probabilistic Traveling Salesman Problem (PTSP) is a TSP problem in which each customer has a given probability of requiring a visit. The goal is to nd an a priori tour of minimal...
The ant colony optimization metaheuristic: Algorithms, applications, and advances (2002)
Ant Colony Optimization (ACO) [31, 32] is a recently proposed metaheuristic approach for solving hard combinatorial optimization problems. The inspiring source of ACO is the pheromone trail laying...
A Comparison of the Performance of Different Metaheuristics on the Timetabling Problem (2002)
Olivia Rossi-Doria, Michael Sampels, Mauro Birattari, Marco Chiarandini, Marco Dorigo, Luca M. Gambardella, ...
The main goal of this paper is to attempt an unbiased comparison of the peformance of straightforward implementations of five different metaheuristics on a university course timetabling problem. In...
A short convergence proof for a class of Ant Colony Optimization algorithms (2002)
Abstract|In this paper we prove some convergence properties for a class of ant colony optimization algorithms. In particular, we prove that for any small constant > 0 and for a suciently large...
Updating ACO pheromones using stochastic gradient ascent and cross-entropy methods (2002)
Marco Dorigo, Mark Zlochin, Nicolas Meuleau, Mauro Birattari
Abstract. In this paper we introduce two systematic approaches, based on the stochastic gradient ascent algorithm and the cross-entropy method, for deriving the pheromone update rules in the Ant...
Toward the formal foundation of ant programming (2002)
Mauro Birattari, Gianni Di Caro, Marco Dorigo
Abstract. This paper develops the formal framework of ant programming with the goal of gaining a deeper understanding on ant colony optimization and, more in general, on the principles underlying the...
Solving the homogeneous probabilistic travelling salesman problem by the ACO metaheuristic (2002)
Leonora Bianchi, Luca Maria Gambardella, Marco Dorigo
Abstract. The Probabilistic Traveling Salesman Problem (PTSP) is a TSP problem in which each customer has a given probability of requiring a visit. The goal is to find an a priori tour of minimal...
Toward the formal foundation of Ant Programming (2002)
Mauro Birattari, Gianni Di Caro, Marco Dorigo
This paper develops the formal framework of ant programming with the goal of gaining a deeper understanding on ant colony optimization and, more in general, on the principles underlying the use of an...
A comparison of the performance of different metaheuristics on the timetabling problem (2002)
Olivia Rossi-doria, Michael Sampels, Mauro Birattari, Marco Chiar, Marco Dorigo, Luca M. Gambardella, ...
Abstract. The main goal of this paper is to attempt an unbiased comparison of the performance of straightforward implementations of five different metaheuristics on a university course timetabling...
An ant colony optimization approach to the probabilistic traveling salesman problem (2002)
Leonora Bianchi, Luca Maria Gambardella, Marco Dorigo
Abstract. The Probabilistic Traveling Salesman Problem (PTSP) is a TSP problem where each customer has a given probability of requiring a visit. The goal is to find an a priori tour of minimal...
Toward the formal foundation of ant programming (2002)
Mauro Birattari, Gianni Di Caro, Marco Dorigo
Abstract This paper develops the formal framework of ant programming with the goal of gaining a deeper understanding on ant colony optimization and, more in general, on the principles underlying the...
A comparison of the performance of different metaheuristics on the timetabling problem (2002)
Olivia Rossi-doria, Michael Sampels, Mauro Birattari, Marco Chiar, Marco Dorigo, Luca M. Gambardella, ...
SWARM-BOT: A swarm of autonomous mobile robots with self-assembling capabilities (2002)
Francesco Mondada, Giovanni C. Pettinaro, Ivo Kwee, Luca Gambardella, Dario Floreano, Stefano Nolfi, ...
We present a new robotic concept, called SWARM-BOT, based on a swarm of small and simple autonomous mobile robots called S-BOTs. S-BOTs have a particular assembling capability that allows them to...
Toward the formal foundation of ant programming (2002)
Mauro Birattari, Gianni Di Caro, Marco Dorigo
Abstract. This paper develops the formal framework of ant programming with the goal of gaining a deeper understanding on ant colony optimization and, more in general, on the principles underlying the...
A short convergence proof for a class of Ant Colony Optimization algorithms (2002)
Thomas Stützle, Marco Dorigo, Senior Member
Abstract—In this paper, we prove some convergence properties for a class of ant colony optimization algorithms. In particular, we prove that for any small constant 0 and for a sufficiently large...
Ant colony optimization and stochastic gradient descent (2002)
Abstract In this article, we study the relationship between the two techniques known as ant colony optimization (ACO) and stochastic gradient descent. More precisely, we show that some empirical ACO...
An ant colony optimization approach to the probabilistic traveling salesman problem (2002)
Leonora Bianchi, Luca Maria Gambardella, Marco Dorigo
Abstract. The Probabilistic Traveling Salesman Problem (PTSP) is a TSP problem where each customer has a given probability of requiring a visit. The goal is to find an a priori tour of minimal...
Solving the homogeneous probabilistic travelling salesman problem by the ACO metaheuristic (2002)
Leonora Bianchi, Luca Maria Gambardella, Marco Dorigo
Abstract. The Probabilistic Traveling Salesman Problem (PTSP) is a TSP problem in which each customer has a given probability of requiring a visit. The goal is to find an a priori tour of minimal...
Updating ACO pheromones using Stochastic Gradient Ascent and Cross-Entropy methods (2002)
Marco Dorigo, Mark Zlochin, Nicolas Meuleau, Mauro Birattari
Abstract. In this paper we introduce two systematic approaches, based on the stochastic gradient ascent algorithm and the cross-entropy method, for deriving the pheromone update rules in the Ant...
A comparison of the performance of different metaheuristics on the timetabling problem (2002)
Olivia Rossi-doria, Michael Sampels, Mauro Birattari, Marco Chiar, Marco Dorigo, Luca M. Gambardella, ...
Abstract. The main goal of this paper is to attempt an unbiased comparison of the performance of straightforward implementations of five different metaheuristics on a university course timetabling...
Swarm robotics: A different approach to service robotics (2002)
Giovanni C. Pettinaro, Francesco Mondada, Jean-louis Deneubourg, Ivo W. Kwee, Dario Floreano, Luca M. Gambardella, ...
Service robotics, as it has been intended so far, views the accomplishment of a service mission mainly as the result of the action of a single robot. Swarm robotics tackles the very same problem from...
Matthijs Den Besten, Thomas Stutzle, Marco Dorigo
Abstract. In this article we investigate the application of iterated local search (ILS) to the single machine total weighted tardiness problem. Our research is inspired by the recently proposed...
The hyper-cube framework for ant colony optimization (2001)
Christian Blum, Andrea Roli, Marco Dorigo
Ant Colony Optimization (ACO) [2] is a recently proposed metaheuristic approach for solving hard combinatorial optimization problems. The inspiring source of ACO is the foraging behavior of real...
The hyper-cube framework for ant colony optimization (2001)
Christian Blum, Andrea Roli, Marco Dorigo
Ant Colony Optimization (ACO) [2] is a recently proposed metaheuristic approach for solving hard combinatorial optimization problems. The inspiring source of ACO is the foraging behavior of real...
HC-ACO: The Hyper-Cube Framework for Ant (2001)
Colony Optimization Christian, Christian Blum, Andrea Roli, Marco Dorigo
this paper we propose a new way of implementing ACO algorithms, which explicitly defines the hyperspace for the pheromone values as the convex hull of the set of 0-1 coded feasible solutions of the...
Matthijs Den Besten, Marco Dorigo
Abstract. In this article we investigate the application of iterated local search (ILS) to the single machine total weighted tardiness problem. Our research is inspired by the recently proposed...
Matthijs Den Besten, Thomas Stützle, Marco Dorigo
In this article we investigate the application of iterated local search (ILS) to the single machine total weighted tardiness problem.
Ant Algorithms Solve Difficult Optimization Problems (2001)
Abstract. The ant algorithms research field builds on the idea that the study of the behavior of ant colonies or other social insects is interesting for computer scientists, because it provides...
Model-based search for combinatorial optimization (2001)
Abstract In this paper we introduce model-based search as a unifying framework accommodating some recently proposed heuristics for combinatorial optimization such as ant colony optimization,...
Ant Algorithms Solve Difficult Optimization Problems (2001)
Abstract. The ant algorithms research field builds on the idea that the study of the behavior of ant colonies or other social insects is interesting for computer scientists, because it provides...
Ant colony optimization for the total weighted tardiness problem (2000)
Matthijs Den Besten, Thomas Stützle, Marco Dorigo
Abstract. In this article we present an application of the Ant Colony Optimization (ACO) metaheuristic to the single machine total weighted tardiness problem. First, we briefly discuss the...
Ant colony optimization for the total weighted tardiness problem (2000)
Matthijs Den Besten, Marco Dorigo
Abstract. In this article we present an application of the Ant Colony Optimization (ACO) metaheuristic to the single machine total weighted tardiness problem. First, we briefly discuss the...
An Ant Colony System Hybridized With A Local Search For The Sequential Ordering Problem (2000)
Luca Maria Gambardella, Marco Dorigo
We present a new local optimizer called SOP-3-exchange for the sequential ordering problem that extends a local search for the traveling salesman problem to handle multiple constraints directly...
Ant Colony Optimization for the Total Weighted Tardiness Problem (2000)
Matthijs Den Besten, Thomas Stützle, Marco Dorigo
In this article we present a novel application of the Ant Colony Optimization (ACO) metaheuristic to the single machine total weighted tardiness problem. First, we briefly discuss the constructive...
Mauro Birattari, Gianni Di Caro, Marco Dorigo
This paper develops the formal framework of ant programming with the goal of gaining a deeper understanding on ant colony optimization, a heuristic method for combinatorial optimization problems...
Swarm Intelligence : From Natural to Artificial Systems (1999)
Bonabeau, Eric, Dorigo, Marco, Theraulaz, Guy
0-19-513159-2
Ant Colony Optimization: A New Meta-Heuristic (1999)
Abstract- Recently, a number of algorithms inspired by the foraging behavior of ant colonies have been applied to the solution of difficult discrete optimization problems. In this paper we put these...
ACO Algorithms for the Traveling Salesman Problem (1999)
Ant algorithms [18, 14, 19] are a recently developed, population-based approach which has been successfully applied to several NP-hard combinatorial
Ant algorithms for discrete optimization (1999)
Abstract This article presents an overview of recent work on ant algorithms, that is, algorithms for discrete optimization that took inspiration from the observation of ant colonies’ foraging...
Ant Algorithms for Discrete Optimization (1999)
Marco Dorigo, Gianni Di Caro, Luca M. Gambardella
This paper overviews recent work on ant algorithms, that is, algorithms for discrete optimization which took inspiration from the observation of ant colonies foraging behavior, and introduces the ant...
ACO Algorithms for the Traveling Salesman Problem (1999)
Thomas Stützle, Thomas St Utzle, Marco Dorigo
this paper we give an overview on the available ACO algorithms for the TSP. We first introduce, in Section 1.2, the TSP. In Section 1.3 we outline how ACO algorithms can be applied to that problem...
The Ant Colony Optimization Meta-Heuristic (1999)
Introduction Ant algorithms are multi-agent systems in which the behavior of each single agent, called artificial ant or ant for short in the following, is inspired by the behavior of real ants. Ant...
ACO Algorithms for the Traveling Salesman Problem (1999)
this paper we give an overview on the available ACO algorithms for the TSP. We first introduce, in Section 1.2, the TSP. In Section 1.3 we outline how ACO algorithms can be applied to that problem...
ACO Algorithms for the Quadratic Assignment Problem (1999)
Introduction The quadratic assignment problem (QAP) is an important problem in theory and practice. Many practical problems like backboard wiring [33], campus and hospital layout [8, 14], typewriter...
The Ant Colony Optimization Meta-Heuristic (1999)
Introduction Ant algorithms are multi-agent systems in which the behavior of each single agent, called arti cial ant or ant for short in the following, is inspired by the behavior of real ants. Ant...
Ant Colony Optimization: A New Meta-Heuristic (1999)
Recently, a number of algorithms inspired by the foraging behavior of ant colonies have been applied to the solution of difficult discrete optimization problems. In this paper we put these algorithms...
Ant algorithms for discrete optimization (1999)
Marco Dorigo, Gianni Di Caro, Luca M. Gambardella
This paper overviews recent work on ant algorithms, that is, algorithms for discrete optimization which took inspiration from the observation of ant colonies foraging behavior, and introduces the ant...
Ant algorithms for discrete optimization (1999)
Abstract This article presents an overview of recent work on ant algorithms, that is, algorithms for discrete optimization that took inspiration from the observation of ant colonies’ foraging...
Ant Colony Optimization: A New MetaHeuristic (1999)
Abstract- Recently, a number off algorithms inspired by the foraging behavior of ant colonies have been applied to the solution of difficult discrete optimization problems. In this paper we put these...
Ant algorithms for discrete optimization (1999)
Marco Dorigo, Gianni Di Caro, Luca M. Gambardella
Abstract This article presents an overview of recent work on ant algorithms, that is, algorithms for discrete optimization that took inspiration from the observation of ant colonies’ foraging...
Ant colonies for Adaptive Routing in Packet-switched Communications Networks (1998)
Gianni Di Caro, Marco Dorigo, Libre Bruxelles Belgium
Abstract. In this paper we present AntNet, a novel adaptive approach to routing tables learning in packet-switched communications networks. AntNet is inspired by the stigmergy model of communication...
AntNet: Distributed Stigmergetic Control for Communications Networks (1998)
This paper introduces AntNet, a novel approach to the adaptive learning of routing tables in communications networks. AntNet is a distributed, mobile agents based Monte Carlo system that was inspired...
Mobile Agents for Adaptive Routing (1998)
This paper introduces AntNet, a new routing algorithm for telecommunication networks. AntNet is an adaptive, distributed, mobile-agents-based algorithm which was inspired by recent work on the ant...
AntNet: Distributed Stigmergetic Control for Communications Networks (1998)
Gianni Di, Gianni Di Caro, Marco Dorigo
This paper introduces AntNet, a novel approach to the adaptive learning of routing tables in communications networks. AntNet is a distributed, mobile agents based Monte Carlo system that was inspired...
AntNet: Distributed Stigmergetic Control for Communications Networks (1998)
This paper introduces AntNet, a novel approach to the adaptive learning of routing tables in communications networks. AntNet is a distributed, mobile agents based Monte Carlo system that was inspired...
Two Ant Colony Algorithms For Best-Effort Routing In Datagram Networks (1998)
In this paper we present two versions of AntNet, a novel approach to adaptive learning of routing tables in wide area best-effort datagram networks. AntNet is a distributed multi-agent system...
An Adaptive Multi-Agent Routing Algorithm (1998)
Inspired By Ants, Gianni Di Caro, Marco Dorigo
This paper introduces AntNet, a novel adaptive approach to routing tables learning in connectionless communications networks. AntNet is inspired by the stigmergy communication model observed in ant...
Ant Algorithms for Discrete Optimization (1998)
Marco Dorigo, Gianni Di Caro, Luca M. Gambardella
This paper overviews recent work on ant algorithms, that is, algorithms for discrete optimization which took inspiration from the observation of ant colonies foraging behavior, and introduces the ant...
Mobile Agents for Adaptive Routing (1998)
This paper introduces AntNet, a new routing algorithm for telecommunication networks. AntNet is an adaptive, distributed, mobile-agents-based algorithm which was inspired by recent work on the ant...
Learning to control forest fires (1998)
Forest fires are an important environmental problem. This paper describes a methodology for constructing an intelligent system which aims to support the human expert's decision making in fire...
Ant colonies for Adaptive Routing in Packet-switched Communications Networks (1998)
. In this paper we present AntNet, a novel adaptive approach to routing tables learning in packet-switched communications networks. AntNet is inspired by the stigmergy model of communication observed...
Incremental robot shaping (1998)
Marco Colom, Joseba Urzelai, Joseba Urzelai, Dario Floreano, Dario Floreano, Marco Dorigo, ...
Abstract: We propose a modular architecture for autonomous robots which allows for the implementation of basic behavioral modules by both programming and training, and accommodates for an...
AntNet: Distributed stigmergetic control for communications networks (1998)
This paper introduces AntNet, a novel approach to the adaptive learning of routing tables in communications networks. AntNet is a distributed, mobile agents based Monte Carlo system that was inspired...
Ant colonies for adaptive routing in packet-switched communications networks (1998)
Gianni Di Caro, Marco Dorigo, Libre Bruxelles Belgium
Abstract. In this paper we present AntNet, a novel adaptive approach to routing tables learning in packet-switched communications networks. AntNet is inspired by the stigmergy model of communication...
Mobile agents for adaptive routing (1998)
This paper introduces AntNet, a new routing algorithm for telecommunication networks. AntNet is an adaptive, distributed, mobile-agents-based algorithm which was inspired byrecent work on the ant...
Ant colony system: A cooperative learning approach to the traveling salesman problem (1997)
Marco Dorigo, Luca Maria Gambardella
This paper introduces ant colony system (ACS), a distributed algorithm that is applied to the traveling salesman problem (TSP). In ACS, a set of cooperating agents called ants cooperate to find good...
AntNet: A Mobile Agents Approach to Adaptive Routing (1997)
This paper introduces AntNet, a new routing algorithm for communications networks. AntNet is an adaptive, distributed, mobile-agents-based algorithm which was inspired by recent work on the ant...
Ant colony system: A cooperative learning approach to the traveling salesman problem (1997)
Marco Dorigo, Luca Maria Gambardella
This paper introduces ant colony system (ACS), a distributed algorithm that is applied to the traveling salesman problem (TSP). In ACS, a set of cooperating agents called ants cooperate to find good...
Ant colony system: A cooperative learning approach to the traveling salesman problem (1997)
Marco Dorigo, Luca Maria Gambardella
This paper introduces ant colony system (ACS), a distributed algorithm that is applied to the traveling salesman problem (TSP). In ACS, a set of cooperating agents called ants cooperate to find good...
AntNet: A Mobile Agents Approach to Adaptive Routing (1997)
This paper introduces AntNet, a new routing algorithm for communications networks. AntNet is an adaptive, distributed, mobile-agents-based algorithm which was inspired by recent work on the ant...
HAS-SOP: Hybrid System For The Sequential Ordering Problem (1997)
Luca Maria Gambardella, Luca Maria Gambardella, Marco Dorigo, Marco Dorigo
We present HAS-SOP, a new approach to solving sequential ordering problems. HAS-SOP combines the ant colony algorithm, a population-based metaheuristic, with a new local optimizer, an extension of a...
Ant Colony System: A Cooperative Learning Approach to the Traveling Salesman Problem (1997)
Marco Dorigo, Luca Maria Gambardella
This paper introduces ant colony system (ACS), a distributed algorithm that is applied to the traveling salesman problem (TSP). In ACS, a set of cooperating agents called ants cooperate to find good...
Metaheuristics For High-School Timetabling (1997)
Alberto Colorni, Marco Dorigo, Vittorio Maniezzo
In this paper we present the results of an investigation of the possibilities offered by three wellknown metaheuristic algorithms to solve the timetable problem, a multi-constrained, NP-hard,...
Reply to Dario Floreano's "Engineering Adaptive Behavior" (1997)
Marco Dorigo, Marco Colombetti
ociator which can only learn linearly separable functions, while ALECSYS is a more general system which does not have this limit: a possible lower speed of ALECSYS is counterbalanced by its greater...
Robot Shaping: Experiment In Behavior Engineering (1997)
Marco Dorigo, Marco Colombetti
its performance. In fact, we use the expression robot shaping to denote the use of learning as a means to translate suggestions coming from an external trainer into an effective control strategy that...
Ant Colonies for the Traveling Salesman Problem (1997)
Marco Dorigo, Luca Maria Gambardella
We describe an artificial ant colony capable of solving the traveling salesman problem (TSP). Ants of the artificial colony are able to generate successively shorter feasible tours by using...
Metaheuristics For High-School Timetabling (1997)
Alberto Colorni, Marco Dorigo, Vittorio Maniezzo
In this paper we present the results of an investigation of the possibilities offered by three wellknown metaheuristic algorithms to solve the timetable problem, a multi-constrained, NP-hard,...
AntNet: A Mobile Agents Approach to Adaptive Routing (1997)
This paper introduces AntNet, a new routing algorithm for communications networks.
HAS-SOP: Hybrid Ant System for the Sequential Ordering Problem (1997)
Hybrid Ant System, Luca Maria Gambardella, Luca Maria Gambardella, Marco Dorigo, Marco Dorigo
We present HAS-SOP, a new approach to solving sequential ordering problems. HAS-SOP combines the ant colony algorithm, a population-based metaheuristic, with a new local optimizer, an extension of a...
Ant Colony System: A cooperative learning approach to the traveling salesman problem (1997)
Marco Dorigo, Senior Member, Luca Maria Gambardella
Abstract—This paper introduces the ant colony system (ACS), a distributed algorithm that is applied to the traveling salesman problem (TSP). In the ACS, a set of cooperating agents called ants...
Université Libre de Bruxelles (1997)
Marco Dorigo, Marco Colombetti, Politecnico Di Milano
On behalf of:
The Ant System: Optimization by a Colony of Cooperating Agents (1996)
Marco Dorigo, Vittorio Maniezzo, Alberto Colorni
An analogy with the way ant colonies function has suggested the definition of a new computational paradigm, which we call Ant System. We propose it as a viable new approach to stochastic...
A study of some properties of Ant-Q (1996)
Marco Dorigo, Luca Maria Gambardella, Problem Solving, From Nature, H. –m. Voigt, W. Ebeling, ...
Abstract. Ant-Q is an algorithm belonging to the class of ant colony based methods, that is, of combinatorial optimization methods in which a set of simple agents, called ants, cooperate to find good...
The Ant System: Optimization by a colony of cooperating agents (1996)
Marco Dorigo Member, Marco Dorigo, Vittorio Maniezzo, Alberto Colorni
An analogy with the way ant colonies function has suggested the definition of a new computational paradigm, which we call Ant System. We propose it as a viable new approach to stochastic...
Solving Symmetric and Asymmetric TSPs by Ant Colonies (1996)
Luca Maria Gambardella, Marco Dorigo
In this paper we present ACS, a distributed algorithm for the solution of combinatorial optimization problems which was inspired by the observation of real colonies of ants. We apply ACS to both...
A Study Of Some Properties Of Ant-Q (1996)
Marco Dorigo, Luca Maria Gambardella, Problem Solving, From Nature, W. Ebeling, ...
. Ant-Q is an algorithm belonging to the class of ant colony based methods, that is, of combinatorial optimization methods in which a set of simple agents, called ants, cooperate to find good...
Robot Shaping: The Hamster Experiment (1996)
Marco Colombetti, Marco Dorigo, Giuseppe Borghi
. In this paper we present an example of the application of a technique, which we call robot shaping, to designing and building learning autonomous robots. Our autonomous robot (called HAMSTER 1 ) is...
Evolutionary Computation In Behavior Engineering (1996)
Marco Colombetti, Marco Dorigo
. In the last few years we have used ALECSYS, a parallel learning classifier system based on the genetic algorithm, to develop behavioral modules for mobile robots, both simulated and real. In this...
Ant Colony System: A Cooperative Learning Approach to the Traveling Salesman Problem (1996)
Marco Dorigo, L.M. Gambardella, Luca Maria Gambardella
This paper introduces ant colony system (ACS), a distributed algorithm that is applied to the traveling salesman problem (TSP). In ACS, a set of cooperating agents called ants cooperate to find good...
Robot Shaping: The Hamster Experiment (1996)
Marco Colombetti, Giuseppe Borghi, Marco Dorigo
In this paper we present an example of the application of a technique, which we call robot shaping, to designing and building learning autonomous robots. Our autonomous robot (called HAMSTER 1 ) is a...
The Ant System: Optimization by a colony of cooperating agents (1996)
Marco Dorigo, Vittorio Maniezzo, Alberto Colorni
An analogy with the way ant colonies function has suggested the definition of a new computational paradigm, which we call Ant System. We propose it as a viable new approach to stochastic...
Ant Colony System: A Cooperative Learning Approach to the Traveling Salesman Problem (1996)
Marco Dorigo, Luca Maria Gambardella
This paper introduces ant colony system (ACS), a distributed algorithm that is applied to the traveling salesman problem (TSP). In ACS, a set of cooperating agents called ants cooperate to find good...
Editorial Introduction to the Special Issue on Learning . . . (1996)
this paper, the authors also prove, using a statistical technique, that the learned selection function is with high probability at a local optimum in the space of the possible functions. Baluja...
The Ant System: Optimization by a colony of cooperating agents (1996)
Marco Dorigo, Vittorio Maniezzo, Alberto Colorni
An analogy with the way ant colonies function has suggested the definition of a new computational paradigm, which we call Ant System. We propose it as a viable new approach to stochastic...
Behaviour Analysis And Training - A Methodology for. . . (1996)
Marco Colombetti, Marco Dorigo
We propose Behavior Engineering as a new technological area whose aim is to provide methodologies and tools for developing autonomous robots. Building robots is a very complex engineering enterprise...
Evolutionary Learning for Intelligent Automation: A Case Study (1995)
A Case Study, Mukesh J. Patel, Marco Colombetti, Marco Dorigo
Industrial automation calls for behavioral intelligence, that is, a mixture of flexibility, robustness and adaptiveness of robot behavior. We argue that efficient machine learning techniques can be a...
Ant-Q: A Reinforcement Learning approach to the traveling salesman problem (1995)
Luca M. Gambardella, Marco Dorigo
In this paper we introduce Ant-Q, a family of algorithms which present many similarities with Q-learning (Watkins, 1989), and which we apply to the solution of symmetric and asymmetric instances of...
Ant-Q: A Reinforcement Learning approach to the traveling salesman problem (1995)
Luca Gambardella, Marco Dorigo
In this paper we introduce Ant-Q, a family of algorithms which present many similarities with Q-learning (Watkins, 1989), and which we apply to the solution of symmetric and asymmetric instances of...
Ant-Q: A Reinforcement Learning Approach to the Traveling Salesman Problem (1995)
Luca M. Gambardella, Marco Dorigo, Alborz Geramifard, M. Sc. Student
Abstract. In this article we investigate the feasibility of using learning classifier systems as a tool for building adaptive control systems for real robots. Their use on real robots imposes...
Training agents to perform sequential behavior (1994)
Marco Colombetti, Marco Dorigo
This paper is concerned with training an agent to perform sequential behavior. In previous work we have been applying reinforcement learning techniques to control a reactive robot. Obviously, a pure...
A comparison of Q-learning and Classifier Systems (1994)
Reinforcement Learning is a class of problems in which an autonomous agent acting in a given environment improves its behavior by progressively maximizing a function calculated just on the basis of a...
Learning by Probabilistic Boolean Networks (1994)
Boolean networks, in spite of their structural simplicity, seem to be able to simulate the dynamics of complex biological and non-biological systems. Learning algorithms in neural networks have shown...
The Effect Of Sensory Information On Reinforcement Learning By A Robot Arm (1994)
Marco Dorigo, Mukesh J. Patel, Marco Colombetti
In this paper we present an application of ALECSYS, a distributed learning classifier system, to the control of a robot arm. ALECSYS is initialised with a set of randomly generated rules and is...
Training and Delayed Reinforcements in Q-Learning Agents (1994)
Q-learning can greatly improve its convergence speed if helped by immediate reinforcements provided by a trainer able to judge the usefulness of actions as stage setting with respect to the goal of...
The Ant System Applied To The Quadratic Assignment (1994)
Vittorio Maniezzo, Alberto Colorni, Marco Dorigo
In recent years there has been growing interest in algorithms inspired by the observation of natural phenomena to define computational procedures which can solve complex problems. In this article we...
The Role of the Trainer in Reinforcement Learning (1994)
Marco Dorigo, Marco Colombetti
In this paper we propose a three-stage incremental approach to the development of autonomous agents. We discuss some issues about the characteristics which differentiate reinforcement programs (RPs),...
Implicit Parallelism in Genetic Algorithms (1993)
This paper is related to Holland's result on implicit parallelism. Roughly speaking, Holland showed a lower bound of the order of n 3 c 1 l to the number of schemata usefully processed by the...
Robot Shaping: Developing Situated Agents through Learning (1993)
Marco Dorigo, Marco Colombetti
Learning plays a vital role in the development of situated agents. In this paper, we explore the use of reinforcement learning to "shape" a robot to perform a predefined target behavior. We...
Genetics-based Machine Learning and Behaviour Based Robotics: A New Synthesis (1993)
Marco Dorigo, Politecnico Di Milano, Uwe Schnepf
Intelligent robots should be able to use sensor information to learn how to behave in a changing environment. As environmental complexity grows, the learning task becomes more and more difficult. We...
A Genetic Algorithm To Solve The Timetable Problem (1993)
Alberto Colorni, Marco Dorigo, Vittorio Maniezzo
In this paper we present the results of an investigation of the possibilities offered by genetic algorithms to solve the timetable problem. This problem has been chosen since it is representative of...
Marco Dorigo, Dorigo Marco Genetic, Non-Genetic Operators
It is well known that standard learning classifier systems, when applied to many different domains, exhibit a number of problems: payoff oscillation, difficult to regulate interplay between the...
Genetic and non-genetic operators in ALECSYS (1993)
It is well known that standard learning classifier systems, when applied to many different domains, exhibit a number of problems: payoff oscillation, difficult to regulate interplay between the...
Implicit parallelism in genetic algorithms (1993)
This paper is related to Holland's result on implicit parallelism. Roughly speaking, Holland showed a lower bound of the order of n3 to the number of schemata usefully processed by the c1 l...
Genetics-based machine learning and behavior based robotics: A new synthesis (1993)
Abstract- Intelligent robots should be able to use sensor information to learn how to behave in a changing environment. As environmental complexity grows, the learning task becomes more and more...
Genetic And Nongenetic Operators In ALECSYS (1992)
It is well known that standard learning classifier systems, when applied to many different domains, exhibit a number of problems: payoff oscillation, difficult to regulate interplay between the...
Message-Based Bucket Brigade: An Algorithm for the Apportionment of Credit Problem (1991)
This paper considers some issues related to the apportionment of credit problem in Genetic Based Machine Learning systems (GBML). A GBML system is composed of three major subsystems. The first one,...
Positive Feedback as a Search Strategy (1991)
Marco Dorigo, V. Maniezzo, Alberto Colorni, Marco Dorigo, Marco Dorigo, Vittorio Maniezzo, ...
: A combination of distributed computation, positive feedback and constructive greedy heuristic is proposed as a new approach to stochastic optimization and problem solving. Positive feedback...
Genetic Algorithms And Highly Constrained Problems: The Time-Table Case (1990)
Alberto Colorni, Marco Dorigo, Vittorio Maniezzo
this paper we have presented a model, a class of algorithms and a computing program, regarding the solution of the timetable problem, with special reference to a real- 5 world application (the...
Genetic Algorithms And Highly Constrained Problems: The Time-Table Case (1990)
Alberto Colorni, Marco Dorigo, Vittorio Maniezzo
this paper we have presented a model, a class of algorithms and a computing program, regarding the solution of the timetable problem, with special reference to a real- 5 world application (the...
Genetic Algorithms: A New Approach To The Time-Table Problem (Extended Abstract) (1990)
Ed. M. Akg��l, Alberto Colorni, Marco Dorigo, Vittorio Maniezzo, Politecnico Di Milano
this paper we present the results of a research relative to the ascertainment of limits and potentialities of genetic algorithms ([Dorigo, 1989], [DeJong-Spears, 1989], [Goldberg, 1989]) in...
Genetic Algorithms: A New Approach To The Time-Table Problem (1990)
Ed. M. Akg��l, Alberto Colorni, Marco Dorigo, Vittorio Maniezzo, Politecnico Di Milano
this paper we present the results of a research relative to the ascertainment of limits and potentialities of genetic algorithms ([Dorigo, 1989], [DeJong-Spears, 1989], [Goldberg, 1989]) in...
Teamwork in Self-Organised Robot Colonies
Nouyan, Shervin, Groß, Roderich, Bonani, Michael, Mondada, F., Dorigo, Marco
Swarm robotics draws inspiration from decentralised, self-organising biological systems in general and from the collective behaviour of social insects in particular. In social insect colonies, many...
ACO Algorithms for the Quadratic Assignment Problem
Introduction The quadratic assignment problem (QAP) is an important problem in theory and practice. Many practical problems like backboard wiring [33], campus and hospital layout [8, 14], typewriter...
New Perspectives About Default Hierarchies Formation In Learning Classifier Systems
this paper we present some results of research in default hierarchies formation. A default hierarchy is a set of rules that models a set of environmental states in which some default rules cover most...
Machine Learning For Autonomous Robotic Agents
Andrea Bonarini, Giuseppe Borghi, Pierguido V. Caironi, Marco Colombetti, Marco Dorigo, Fabio Marchese, ...
We present some results of our research in the field of Machine Learning applied to robotics problems. In particular we have investigated on: (i) the application of Learning Classifier Systems to the...
Using Transputers To Increase Speed And Flexibility Of Genetics-Based Machine Learning Systems
We implemented a distributed environment for machine learning experimentation on a transputer network. The system can be used by a researcher to build modular and efficient learning systems. The...
Balaprakash, Prasanna, Birattari, Mauro, Stützle, Thomas, Dorigo, Marco
The probabilistic traveling salesman problem is a paradigmatic example of a stochastic combinatorial optimization problem. For this problem, recently an estimation-based local search algorithm using...