A DECENTRALIZED, LOW COMPUTATIONAL COST STRATEGY FOR COORDINATION AND SEARCH WITH A ROBOT FLOCK
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Date
2021
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Journal of Theoretical and Applied Information Technology
Abstract
The coordination of a flock of robots is a high demand application in applications such as motion planning, navigation, herding (tracking and/or tracing), area coverage (exploration, search and rescue, etc.), object transportation (surrounding and moving together), and compound tasks, all of which are currently heavily researched in robotics. Many approaches have been proposed to solve this problem, but they largely compromise system characteristics such as fault tolerance, capacity, efficiency, and in particular cost, since real implementations require special hardware. This paper proposes a coordination strategy for a system composed of small robots of minimalist design under the condition of minimum processing and sensing capacity. The communication requirements have been limited to a local communication strategy sufficient to achieve the relative orientation of each swarm member. The usefulness of the scheme is evaluated by simulation in specialized search tasks in an unknown region. The results show the high capability of the scheme and the ease of implementation on real prototypes.
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Keywords
Collective movement, Flocking, Leader-follower, Self-organizing systems
Citation
FREDY H , MARTÍNEZ S / A DECENTRALIZED, LOW COMPUTATIONAL COST STRATEGY FOR COORDINATION AND SEARCH WITH A ROBOT FLOCK / Journal of Theoretical and Applied Information Technology / 2021