research-article

A coordination mechanism for swarm navigation: experiments and analysis

Authors:

Leandro Soriano Marcolino,

Luiz ChaimowiczAuthors Info & Claims

AAMAS '08: Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 3

Pages 1203 - 1206

Published: 12 May 2008 Publication History

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Abstract

We present an algorithm that allows swarms of robots to navigate in environments containing unknown obstacles, moving towards and spreading along 2D shapes given by implicit functions. Basically, a gradient descent approach augmented with local obstacle avoidance is used to control the swarm. To deal with local minima regions, we use a coordination mechanism that reallocates some robots as "rescuers" and sends them to help other robots that may be trapped. The main objective of this paper is to analyze the performance of this algorithm in terms of its completion rate and communication requirements as the number of robots increases. For this, a series of simulations are presented and discussed.

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Index Terms

A coordination mechanism for swarm navigation: experiments and analysis
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
      1. Robotic autonomy

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Published In

AAMAS '08: Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 3

May 2008

503 pages

ISBN:9780981738123

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International Foundation for Autonomous Agents and Multiagent Systems

Richland, SC

Publication History

Published: 12 May 2008

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AAAI

AAMAS08: 7th International Conference on Autonomous Agents and Multi Agent Systems

May 12 - 16, 2008

Estoril, Portugal

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Overall Acceptance Rate 1,155 of 5,036 submissions, 23%

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A Framework and Architecture for Multi-Robot Coordination

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A Framework and Architecture for Multi-Robot Coordination

Human-swarm interaction: an experimental study of two types of interaction with foraging swarms

Distributed multi-robot coordination in area exploration

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