{"id":386,"date":"2011-09-29T00:00:08","date_gmt":"2011-09-28T18:30:08","guid":{"rendered":"http:\/\/www.iitg.ernet.in\/cse\/robotics\/?page_id=386"},"modified":"2024-10-15T11:40:19","modified_gmt":"2024-10-15T06:10:19","slug":"artificial-being","status":"publish","type":"page","link":"https:\/\/www.iitg.ac.in\/cse\/robotics\/?page_id=386","title":{"rendered":"Artificial Being (ABe)"},"content":{"rendered":"

ABe<\/em> <\/strong>is visualized as a collection of mobile robots (or nodes), sensors, appliances and gadgets that together form a networked Artificial Being<\/em>. Though they are physically separable, a set of mobile agents that roam within these entities form the cells <\/em>that nourish each of them with valuable nuggets of information gained by experience from the other, thereby unifying them as the Being<\/em><\/strong>. The robots\/hardware depend on a population of mobile agents that serve them with the code (programs) that will help them execute tasks, refine the code based on the results of their execution and then share the same once again with other robots and entities that comprise the Being<\/em><\/strong>.\u00a0ABe <\/em><\/strong>is thus, an Intelligent Cyber-Physical System.<\/p>\n

ABe<\/em><\/strong>\u2019s realization will thus, provide a platform\/test-bed for real-world distributed networked and autonomous robotics. It will mean that we will be in a position to actually program mobile robots to perform in a distributed and decentralized manner.<\/p>\n

The first challenge of developing the middleware for networked robotics calls for\u00a0 the\u00a0 design\u00a0 and\u00a0 development\u00a0 of\u00a0 a\u00a0 software\u00a0 framework\u00a0 that\u00a0 can\u00a0 facilitate interactions\u00a0 amongst\u00a0 the\u00a0 distributed,\u00a0 interoperable,\u00a0 heterogeneous\u00a0 robotic entities\u00a0 that\u00a0 comprise\u00a0 the\u00a0 network\u00a0 and\u00a0 the\u00a0 simplification\u00a0 of\u00a0 complex\u00a0 robot control software\u00a0 systems\u00a0 which\u00a0 in\u00a0 turn\u00a0 can\u00a0 ease\u00a0 the\u00a0 associated\u00a0 application development\u00a0 process.\u00a0\u00a0In ABe<\/em><\/strong> mobile\u00a0 agents\u00a0 form\u00a0 virtual\u00a0 machine\u00a0 based paradigms\u00a0 and their associated\u00a0 platform serves as the middleware.\u00a0 A framework that\u00a0 exploits\u00a0 key\u00a0 features\u00a0 of\u00a0 mobile\u00a0 agents (mobility, cloning, autonomy, on-the-fly programming, etc.)\u00a0 has been used within this middleware.<\/p>\n

The architecture of ABe <\/em> <\/strong>is mainly inspired by the Biological Immune Systems (BIS)\u00a0 whose metaphors justify the use of mobile agents. Agents are looked upon as immune<\/em> cells while the robotic\u00a0 nodes\u00a0 form\u00a0 metaphors\u00a0 for\u00a0 the\u00a0 organs<\/em> of\u00a0 the\u00a0 complex network that forms the ABe<\/em><\/strong>.\u00a0 Each of these nodes\/entities could need some kind of service\/program\/information – meaning that the node is attacked by an antigen. If you wish to see an animated version of this explanation, Click Me<\/a> and then on the video below the title in that page.<\/p>\n

The mobile agents (immune<\/em> cells\/antibodies carrying services\/programs\/info.) migrate within these networked entities comprising the\u00a0 ABe <\/em><\/strong>(from one robotic node to another) searching for nodes in need (trying to detect such antigenic attacks) of the services (antibodies) that they carry\u00a0 as payload and provide the same to them (neutralization), thus empowering the associated robot to perform the given task (triggering\u00a0 the\u00a0 complement\u00a0 system). The robots thus, need not initially possess the programs for the tasks they are asked\/required to execute. This in turn allows novice robotic programmers to tether their robots and make them pheromone<\/em> for (robotic) programs that they require.<\/p>\n

ABe <\/em> <\/strong>also uses bio-inspired paradigms such as pheromone diffusion and stigmergic sensing to control the clone population within the network. Unlike conventional ant pheromone laying mechanisms, the robotic nodes spread (diffuse) a virtual fragrance (pheromone) to attract the concerned mobile agents towards themselves. Mobile agent cloning aids in faster and on-demand transportation of payloads across the network while also effectively utilizing available bandwidth.<\/p>\n

To realize ABe we use a multi-mobile agent platform, nicknamed Tartarus<\/strong><\/em>, developed in-house for emulating the same over a real network of nodes. Check out more on Tartarus<\/strong><\/em> here<\/strong><\/a>.<\/p>\n

Hang-on, we will be releasing a new Python version of Tartarus<\/em><\/strong>, named Tarpy<\/em><\/strong>. Do visit these pages again for the same.<\/p>\n

\u00a0<\/p>\n\n\n

<\/p>\n","protected":false},"excerpt":{"rendered":"

ABe is visualized as a collection of mobile robots (or nodes), sensors, appliances and gadgets that together form a networked Artificial Being. Though they are physically separable, a set of mobile agents that roam within these entities form the cells … Continue reading →<\/span><\/a><\/p>\n","protected":false},"author":2,"featured_media":538,"parent":377,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"_links":{"self":[{"href":"https:\/\/www.iitg.ac.in\/cse\/robotics\/index.php?rest_route=\/wp\/v2\/pages\/386"}],"collection":[{"href":"https:\/\/www.iitg.ac.in\/cse\/robotics\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/www.iitg.ac.in\/cse\/robotics\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/www.iitg.ac.in\/cse\/robotics\/index.php?rest_route=\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/www.iitg.ac.in\/cse\/robotics\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=386"}],"version-history":[{"count":15,"href":"https:\/\/www.iitg.ac.in\/cse\/robotics\/index.php?rest_route=\/wp\/v2\/pages\/386\/revisions"}],"predecessor-version":[{"id":390,"href":"https:\/\/www.iitg.ac.in\/cse\/robotics\/index.php?rest_route=\/wp\/v2\/pages\/386\/revisions\/390"}],"up":[{"embeddable":true,"href":"https:\/\/www.iitg.ac.in\/cse\/robotics\/index.php?rest_route=\/wp\/v2\/pages\/377"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.iitg.ac.in\/cse\/robotics\/index.php?rest_route=\/wp\/v2\/media\/538"}],"wp:attachment":[{"href":"https:\/\/www.iitg.ac.in\/cse\/robotics\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=386"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}