Sergey Kornienko

Minimalistic approach towards communication and perception in microrobotic swarms

This work is primarily devoted to specific communication and sensing approaches applied for large microrobotic swarms. We investigate the minimal capabilities of a microrobot which still enable the whole robotic group to perform collective activities. These minimal capabilities are implemented in the hardware which allows exploring a phenomenon of swarm intelligence in real experiments. The components of the developed system consume energy provided by microcontrollers I/O ports, are cheap and available on micro-component market.

From real robot swarm to evolutionary multi-robot organism

Collective working allows microrobots to achieve more functionality, better performance and higher reliability on the macroscopic level. In this paper we demonstrate the on-going work in developing novel collective systems, where swarm robots work not only collectively, but are also capable of autonomous aggregation and disaggregation into a higher multi- robot organism. The main issues of such an organism, as well as its genome-based control, are discussed. We show the developed docking approach and investigate topological transformations in a prototype of self-assembling robots.

APPLICATION OF ORDER PARAMETER EQUATIONS FOR THE ANALYSIS AND THE CONTROL OF NONLINEAR TIME DISCRETE DYNAMICAL SYSTEMS

This work is based on the concept of order parameters of synergetics. The order parameter equations describe the behavior of a system in the vicinity of an instability and are used here not only for the analysis but also for the control of nonlinear time discrete dynamical systems. Usually, the dimensionality of the evolution equations of the order parameters is less than the dimensionality of the original evolution equations. It is, therefore, convenient to introduce control mechanisms, first in the order parameter equations, and then to use the obtained results for the control of the original system. The aim of the control in this case is to avoid chaotic behavior of the system. This is achieved by shifting appropriate bifurcation points of a period-doubling cascade. In this work we concentrate on the shifting of only the first bifurcation point. The used control mechanisms are delayed feedback schemes. As an example the well-known Henon map is investigated. The order parameter equation is calculated using both the adiabatic elimination procedure and the center manifold theory. Using the order parameter concept two types of control mechanisms are constructed, analyzed and compared.

Swarm Embodiment — A New Way for Deriving Emergent Behavior in Artificial Swarms

This paper concerns the emergent properties of collective robotic systems with imposed microscopic and macroscopic constraints. These constraints dramatically impact the emergent behavior of collective systems so that creating desired emergence becomes very challenged. In this paper we present the top-down swarm embodiment methodology that allows obtaining desired collective behavior in systematic way.

Das Stuttgarter Unternehmensmodell in der Theorie

Unternehmen, die in turbulenten Umfeldern erfolgreich operieren wollen, mussen wandlungsfahig sein. Mit anderen Worten: Sie mussen schnell und gezielt auf sich verandernde, nicht vorhersehbare Marktanforderungen antworten konnen. Die Fuhrungs- und Steuerungsaufgaben von solchen wandlungsfahigen Unternehmen unterscheiden sich grundsatzlich von den Fuhrungs- und Steuerungsaufgaben der Unternehmen in relativ ruhigen Umwelten: Das Management muss fur verschiedene Konstellationen von Unsicherheit sensibilisiert werden, das Denken in Handlungsalternativen muss unterstutzt, Lernprozesse mussen gefordert werden.

Die digitale Modellfabrik

Unter dem Schlagwort der digitalen Fabrik verbirgt sich eine Vielzahl von Ansichten und Definitionen, die sich im Laufe der Zeit entwickelt haben. Fakt ist, dass sich die Fabrikplanung mit immer groseren Anforderungen konfrontiert sieht, da sie auf turbulente Absatzmarkte und abnehmende Produktlebenszyklen zu reagieren hat.