We present an investigation of specialization when considering the execution of collaborative tasks by a robot swarm. Specifically, we consider the stick-pulling problem first proposed by Martinoli et al., and develop...
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We present an investigation of specialization when considering the execution of collaborative tasks by a robot swarm. Specifically, we consider the stick-pulling problem first proposed by Martinoli et al., and develop a macroscopic analytical model for the swarm executing a set of tasks that require the collaboration of two robots. We show, for constant external conditions, maximum productivity can be achieved by a single species swarm with carefully chosen operational parameters. While the same applies for a two species swarm, we show how specialization is a strategy best employed for changing external conditions.
In the present study, we are interested in verifying how the progressive addition of constraints on communication and localization impact the performance of a swarm of small robots in shape formation tasks. Identified...
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ISBN:
(纸本)9781424427048
In the present study, we are interested in verifying how the progressive addition of constraints on communication and localization impact the performance of a swarm of small robots in shape formation tasks. Identified to be of importance in a swarm-user interaction context, the time required to construct a given spatial configuration is considered as a performance metric. The experimental work reported in this paper starts from global and synchronized localization information, shown to be successful both on a real hardware system and in simulation. In a second step, communication is constrained to a local scale, thus obliging a single designated robot to disseminate the global localization information to the other agents. The reliability of the radio communication channel and its impact upon the performance of the system are considered.
It is a characteristic of swarm robotics that modelling the overall swarm behaviour in terms of the low-level behaviours of individual robots is very difficult. Yet if swarm robotics is to make the transition from the...
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In the present study, we are interested in verifying how the progressive addition of constraints on communication and localization impact the performance of a swarm of small robots in shape formation tasks. Identified...
详细信息
In the present study, we are interested in verifying how the progressive addition of constraints on communication and localization impact the performance of a swarm of small robots in shape formation tasks. Identified to be of importance in a swarm-user interaction context, the time required to construct a given spatial configuration is considered as a performance metric. The experimental work reported in this paper starts from global and synchronized localization information, shown to be successful both on a real hardware system and in simulation. In a second step, communication is constrained to a local scale, thus obliging a single designated robot to disseminate the global localization information to the other agents. The reliability of the radio communication channel and its impact upon the performance of the system are considered.
We compare three bio-inspired odor source localization algorithm (casting, surge-spiral and surge-cast) for environments with a main wind flow in simulation. The wind flow is laminar and the simulation setup similar t...
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We compare three bio-inspired odor source localization algorithm (casting, surge-spiral and surge-cast) for environments with a main wind flow in simulation. The wind flow is laminar and the simulation setup similar to the setup in the wind tunnel in which we have carried out similar experiments with real robots. The algorithms are compared in terms of success rate and distance overhead when tracking the plume up to the source. We conclude that the algorithms based on upwind surge yield significantly better performance than pure casting.
Vision-based tracking is used in nearly all robotic laboratories for monitoring and extracting of agent positions, orientations, and trajectories. However, there is currently no accepted standard software solution ava...
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ISBN:
(纸本)9781424420575
Vision-based tracking is used in nearly all robotic laboratories for monitoring and extracting of agent positions, orientations, and trajectories. However, there is currently no accepted standard software solution available, so many research groups resort to developing and using their own custom software. In this paper, we present Version 4 of SwisTrack, an open source project for simultaneous tracking of multiple agents. While its broad range of pre-implemented algorithmic components allows it to be used in a variety of experimental applications, its novelty stands in its highly modular architecture. Advanced users can therefore also implement additional customized modules which extend the functionality of the existing components within the provided interface. This paper introduces SwisTrack and shows experiments with both marked and marker-less agents.
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