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Wave algorithm applied to collective navigation of robotic swarms

APPLIED SOFT COMPUTING 2017年 57卷 698-707页

作者： Silva Junior, Luneque Nedjah, Nadia Univ Fed Rio de Janeiro Rio De Janeiro Brazil Univ Estado Rio De Janeiro Rio De Janeiro Brazil

In swarm robotics, it is necessary to develop methods and strategies that guide the collective execution of tasks by the robots. The design of such tasks can be done considering it as a collection of simpler behaviors, called subtasks. In this paper, the Wave Swarm is presented as a general strategy to manage the sequence of subtasks that compose the collective navigation, which is an important task in swarm robotics. The proposed strategy is based mainly on the execution of wave algorithms. The swarm is viewed as a distributed system, wherein the communication is achieved by message passing among robot's neighborhood. Message propagation delimits the start and end of each subtask. Simulations are performed to demonstrate that controlled navigation of robot swarms/clusters is achieved with three subtasks, which are recruitment, alignment and movement. The performance of the proposed strategy regarding the time spent in the two first subtasks is analyzed. Furthermore, the simulations of the navigation in different environments including obstacles are presented and discussed. (C) 2016 Elsevier B.V. All rights reserved.

关键词： Swarm robotics Wave algorithms Collective navigation subtask sequentialization

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