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14th International Symposium on Intelligent Systems

作者： Puzicha, Alexander Buchholz, Peter Tech Univ Dortmund Emil Figge Str 61 D-44227 Dortmund Germany

The paper presents a new approach and a related real-time parallel simulation tool for modeling and analyzing a swarm of more than 60 distributed autonomous mobile robots communicating over an unreliable and capacity restricted wireless communication network. It includes a physical simulation of static obstacles, dynamic obstacles with scriptable movement, soil condition, active jammers, static and dynamic link obstacles with configurable damping as well as thermal noise. The simulated ground based mobile robots use CPBP [12] as probabilistic model predictive closed loop controller in combination with gradient free cost functions to evaluate complex unsteady goodness aggregations. The goal of this approach is the development of connection aware swarm behavior for complex missions such as terrain exploration, formations, convoy escorting or creation of a mobile ad hoc network in dynamic disaster areas under realistic environmental conditions. The missions can be combined in any manner and the target extraction of the high-level commands for each agent is done implicitly. To validate the developed behavior, the independent software control kernel is able to be used on real robots as well. (C) 2021 The Authors. Published by Elsevier B.V.

关键词： Real-Time simulations Parallel simulations simulation-based virtual environments Swarm Robotics Model Predictive Control Autonomous Robots Swarm Behavior

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Real-Time simulation of Robot Swarms with Restricted Communication Skills 24

Real-Time Simulation of Robot Swarms with Restricted Communi...

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IEEE/ACM 24th International Symposium on Distributed simulation and Real Time Applications (DS-RT)

作者： Puzicha, Alexander Buchholz, Peter TU Dortmund Informat 4 D-44221 Dortmund Germany

ISBN: (纸本)9781728173436

The paper presents a new approach and a related software environment for the parallel simulation of swarms of autonomous robots in real time. The software environment has been developed for model based analysis of algorithms to control large swarms of distributed autonomous mobile robots communicating over an unreliable and capacity restricted wireless network. It includes a physical simulation of static obstacles, dynamic obstacles with scriptable movement, soil condition, active jammers, static and dynamic link obstacles with configurable damping as well as noise floors. The simulated ground based mobile robots use control particle belief propagation (C-PBP) as a randomized and sample based model predictive closed loop controller in combination with cost functions to evaluate the situations. We emphasize where the use of shared memory parallelism is beneficial and which inaccuracies in computations are acceptable to increase performance without losing realism.

关键词： Real-Time simulations Parallel simulations simulation-based virtual environments Swarm Robotics

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Decentralized model predictive control for autonomous robot swarms with restricted communication skills in unknown environments