Application and Experimental Validation of Pheromone Design in Ant Colony Optimization: the Problem of Robot Skin Wiring

REFERENCES

• Alirezarei, H., A. Nagakubo, and Y. Kuniyoshi. 2007. A highly stretchable tactile distribution sensor for smooth surfaced humanoids. In Proceedings of the 2007 IEEE Conference on Humanoid Robotics (HUMANOIDS 2007), 167–173, Pittsburg, PA, USA.
   Google Scholar
• Allen, P., and P. Michelman. 1990. Acquisition and interpretation of 3-D sensor data from touch. IEEE Transactions on Robotics and Automation 6(4):397–405.
   Google Scholar
• Anghinolfi, D., G. Cannata, F. Mastrogiovanni, C. Nattero, and M. Paolucci. 2012. Heuristic approaches for the optimal wiring in large-scale robotic skin design. Computers & Operations Research 39(11):2715–2724.
   Web of Science ®Google Scholar
• Anghinolfi, D., G. Cannata, F. Mastrogiovanni, C. Nattero, and M. Paolucci. 2013. On the problem of the automated design of large-scale robot skin. IEEE Transactions on Automation Science and Engineering in press.
   PubMed Web of Science ®Google Scholar
• Anghinolfi, D. and M. Paolucci. 2008. A new ant colony optimization approach for the single machine total weighted tardiness scheduling problem. International Journal of Operations Research 5:1–17.
   Google Scholar
• Argall, B. and A. Billard. 2010. A survey of tactile human-robot interactions. Robotics and Autonomous Systems 58(10):1159–1176.
   Web of Science ®Google Scholar
• Baglini, E., G. Cannata, and F. Mastrogiovanni. 2010. Design of an embedded networking infrastructure for whole-body tactile sensing in humanoid robots. In Proceedings of the 2010 IEEE Conference on Humanoid Robotics (HU-MANOIDS 2010), 671–676, Nashville, TN, USA.
   Google Scholar
• Bazgan, C., B. Couëetoux, and Z. Tuza. 2011. Complexity and approximation of the constrained forest problem. Theoretical Computer Science 412(32):4081–4091.
   Web of Science ®Google Scholar
• Cannata, G., R. Dahiya, M. Maggiali, F. Mastrogiovanni, G. Metta, and M. Valle. 2010. Modular skin for humanoid robot systems. In Proceedings of the 4th International Conference on Cognitive Systems (CogSys 2010), Zurich, Switzerland.
   Google Scholar
• Cannata, G., S. Denei, and F. Mastrogiovanni. 2010a. A framework for representing interaction tasks based on tactile data. In Proceedings of the 2010 IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2010), 698–703, Viareggio, Italy.
   Google Scholar
• Cannata, G., S. Denei, and F. Mastrogiovanni. 2010b. Tactile sensing: Steps to artificial somatosensory maps. In Proceedings of the 2010 IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2010), 576–581, Viareggio, Italy.
   Google Scholar
• Cannata, G., S. Denei, and F. Mastrogiovanni. 2010c. Towards automated self-calibration of robot skin. In Proceedings of the 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), 4849–4854, Anchorage, Alaska, USA.
   Google Scholar
• Cannata, G., M. Maggiali, G. Metta, and G. Sandini. 2008. An embedded artificial skin for humanoid robots. In Proceedings of the 2008 IEEE International Conference on Multi-Sensor Fusion and Integration (MFI 2008), 434–438, Seoul, South Korea.
   Google Scholar
• Chang, M. C. W., L. Tsao, S. Yang, Y. Yang, W. Shih, F. Chang, S. Chang, and K. Fan. 2007. Design and fabrication of an artificial skin using pi-copper film. In Proceedings of the 20th IEEE International Conference on Micro Electro Mechanical Systems (MEMS 2007), 389–392, Kobe, Japan.
   Google Scholar
• Cordone, R., and F. Maffioli, 2001. Coloured ant system and local search to design local telecommunication networks. In Proceedings of the 2001 Workshop on Applications of Evolutionary Computing (EvoWorkshop 2001), Lecture Notes in Computer Science 2037, 60–69, Berlin, Heidelberg: Springer.
   Google Scholar
• Dahiya, R., G. Metta, M. Valle, and G. Sandini. 2010. Tactile sensing: From humans to humanoids. IEEE Transactions on Robotics 26(1):1–20.
   Web of Science ®Google Scholar
• Denei, S., F. Mastrogiovanni, and G. Cannata. 2012. Parallel force-position control mediated by tactile maps for robot contact tasks. In Proceedings of the 2012 IEEE International Conference on Intelligent Robots and Systems (IROS 2012), 3786–3791, Vilamoura, Portugal.
   Google Scholar
• Dorigo, M., and C. Blum. 2005. Ant colony optimization theory: A survey. Theoretical Computer Science 344:243–278.
   Web of Science ®Google Scholar
• Dorigo, M., and L. Gambardella. 1997. Ant colony system: A cooperative learning approach to the traveling salesman problem. IEEE Transactions on Evolutionary Computation 1(1):53–66.
   Google Scholar
• Duchaine, V., N. Lauzier, M. Baril, M. Lacasse, and C. Gosselin. 2009. A flexible robot skin for safe physical human robot interaction. In Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA′09), 3676–3681, Kobe, Japan.
   Google Scholar
• Feder, T., P. Hell, S. Klein, and R. Motwani. 1999. Complexity of graph partition problems. In Proceedings of the 1999 Annual ACM Symposium on Theory of Computing (STOC 1999), 464–472, Atlanta, GA, USA.
   Google Scholar
• Futai, N., T. Yasuda, M. Inaba, I. Shimoiama, and H. Inoue. 1999. A soft tactile sensor with films of lc resonant traps. In Proceedings of the 1999 IEEE International Conference on Advanced Robotics (ICAR′99), 25–31, Tokyo, Japan.
   Google Scholar
• Goger, D. and H. Worn. 2007. A highly versatile and robust tactile sensing system. In Proceedings of the 2007 IEEE Conference on Sensors (SENSORS 2007), 1056–1059, Atlanta, GA, USA.
   Google Scholar
• Gupta, A., J. Lafferty, H. Liu, L. Wasserman, and M. Xiu. 2010. Forest density estimation (Technical Report, Carnegie Mellon University).
   Google Scholar
• Hakozaki, M., H. Oasa, and H. Shinoda. 1999. Telemetric robot skin. In Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA′99), 957–961, Detroit, Michigan, USA.
   Google Scholar
• Hakozaki, M. and H. Shinoda. 2002. Digital tactile sensing elements communicating through conducting skin layers. In Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA′02), 3813–3817, Washington, DC.
   Google Scholar
• Hoshi, T. and H. Shinoda. 2006a. A large area robot skin based on cell-bridge system. In Proceedings of the 2006 IEEE Conference on Sensors (SENSORS 2006), 827–830, Daegu, Korea.
   Google Scholar
• Hoshi, T. and H. Shinoda. 2006b. A sensitive skin based on touch-area-evaluating tactile elements. In Proceedings of the 2006 IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 89–94, Alexandria, Virginia, USA.
   Google Scholar
• Hwang, E., J. Seo, and Y. Kim. 2007. A polymer-based flexible tactile sensor for both normal and shear load detection and its application to robotics. Journal of Microelectromechanical Systems 16(3):556–564.
   Web of Science ®Google Scholar
• Imielinska, C., B. Kalantari, and L. Khachiyan. 1993. A greedy heuristic for a minimum-weight forest problem. Operations Research Letters 14(2):65–71.
   Web of Science ®Google Scholar
• Jockursh, J., J. Walter, and H. Ritter. 1997. A tactile sensor system for a three fingered robot manipulator. In Proceedings of the 1997 IEEE International Conference on Robotics and Automation (ICRA′97), 3080–3086, Albuquerque, New Mexico, USA.
   Google Scholar
• Lacasse, M., V. Duchaine, and C. Gosselin. 2010. Characterization of the electrical resistance of carbon-black-filled silicone: Application to a flexible and stretchable robot skin. In Proceedings of the 2010 IEEE International Conference on Robotics and Automation (ICRA′10), 4842–4848, Anchorage, Alaska.
   Google Scholar
• Lazzarini, R., R. Magni, and P. Dario. 1995. A tactile array sensor layered in an artificial skin. In Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS′95), 114–119, Pittsburg, PA, USA.
   Google Scholar
• Miller, C. E., A. W. Tucker, and R. A. Zemlin. 1960. Integer programming formulation of traveling salesman problems. Journal of the ACM 7:326–329.
   Web of Science ®Google Scholar
• Mittendorfer, P. and G. Cheng. 2011. Humanoid multimodal tactile-sensing modules. IEEE Transactions on Robotics 27(3):401–410.
   Web of Science ®Google Scholar
• Monnot, J., and S. Toulouse. 2007. The path partition problem and related problems in bipartite graphs. Operations Research Letters 35(5):677–684.
   Web of Science ®Google Scholar
• Nagakubo, A., H. Alirezarei, and Y. Kuniyoshi. 2007. A deformable and deformation sensitive tactile distribution sensor. In Proceedings of the 2007 IEEE International Conference on Robotics and Biomimetics (ROBIO 2007), 1301–1308, Sanya, China.
   Google Scholar
• Nattero, C., D. Anghinolfi, M. Paolucci, G. Cannata, and F. Mastrogiovanni. 2012. Experimental analysis of different pheromone structures in ant colony optimization for robotic skin design. In Proceedings of the 2012 International Federated Conference on Computer Science and Information Systems (FedCSIS 2012), 431–438, Wroclaw, Poland.
   Google Scholar
• Nilsson, M. 1999. Tactile sensing with minimal wiring complexity. In Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA′99), 293–298, Detroit, Michigan, USA.
   Google Scholar
• Papadimitriou, C., and K. Steiglitz. 1982. Combinatorial Optimization: Algorithms and Complexity. Upper Saddle River, NJ, USA: Prentice-Hall.
   Google Scholar
• Schaeffer, S. 2007. Graph clustering. Cluster Science Review 1:27–64.
   Google Scholar
• Schmitz, A., P. Maiolino, M. Maggiali, L. Natale, G. Cannata, and G. Metta. 2011. Methods and technologies for the implementation of large-scale robot tactile sensors. IEEE Transactions on Robotics 27(3):389–400.
   Web of Science ®Google Scholar
• Shimojo, M. 1994. Spatial filtering characteristic of elastic cover for tactile sensor. In Proceedings of the 1994 IEEE International Conference on Robotics and Automation (ICRA′93), 287–292, San Diego, CA, USA.
   Google Scholar
• Shimojo, M., T. Araki, A. Ming, and M. Ishikawa. 2010. A high speed mesh of tactile sensors fitting arbitrary surfaces. IEEE Sensors Journal 10(4):822–831.
   Web of Science ®Google Scholar
• Shinoda, H., and H. Oasa. 2000. Wireless tactile sensing element using stresssensitive resonator. IEEE/ASME Transactions on Mechatronics 5(3):258–266.
   Web of Science ®Google Scholar
• Stüutzle, T., and H. Hoos. 2000. Max-min ant system. Future Generation Computer Systems 16:889–914.
   Google Scholar
• Yan, X., X. Zhou, and J. Han. 2005. Mining closed relational graphs with connectivity constraints. In Proceedings of the 2005 International Conference on Knowledge Discovery and Data Mining (KDD 2005), 324–333, Chicago, Illinois, USA.
   Google Scholar
• Youssefi, S., S. Denei, F. Mastrogiovanni, and G. Cannata. 2011. A middleware for whole body skin-like tactile systems. In Proceedings of the 2011 IEEE-RAS International Conference on Humanoid Robotics (Humanoids 2011), 159–164, Bled, Slovenia.
   Google Scholar