Path formation in a robot swarm |
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Authors: | Shervin Nouyan Alexandre Campo Marco Dorigo |
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Institution: | (1) IRIDIA, CoDE, Université Libre de Bruxelles, Brussels, Belgium |
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Abstract: | We present two swarm intelligence control mechanisms used for distributed robot path formation. In the first, the robots form
linear chains. We study three variants of robot chains, which vary in the degree of motion allowed to the chain structure. The second mechanism
is called vectorfield. In this case, the robots form a pattern that globally indicates the direction towards a goal or home location.
We test each controller on a task that consists in forming a path between two objects which an individual robot cannot perceive
simultaneously. Our simulation experiments show promising results. All the controllers are able to form paths in complex obstacle
environments and exhibit very good scalability, robustness, and fault tolerance characteristics. Additionally, we observe
that chains perform better for small robot group sizes, while vectorfield performs better for large groups. |
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Keywords: | Swarm intelligence Swarm robotics Distributed path formation |
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