Controlling Robot Swarm Aggregation Through a Minority of Informed Robots

Antoine Sion, Andreagiovanni Reina, Mauro Birattari, Elio Tuci

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Résumé

Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm of heterogeneous robots that self-aggregate over distinct target sites. A previous study has shown that including as part of the swarm a number of informed robots can steer the dynamic of the aggregation process to a desirable distribution of the swarm between the available aggregation sites. We have replicated the results of the previous study using a simplified approach: we removed constraints related to the communication protocol of the robots and simplified the control mechanisms regulating the transitions between states of the probabilistic controller. The results show that the performances obtained with the previous, more complex, controller can be replicated with our simplified approach which offers clear advantages in terms of portability to the physical robots and in terms of flexibility. That is, our simplified approach can generate self-organized aggregation responses in a larger set of operating conditions than what can be achieved with the complex controller.

langue originaleAnglais
titreSwarm Intelligence - 13th International Conference, ANTS 2022, Proceedings
Sous-titre13th International Conference on Swarm Intelligence
rédacteurs en chefMarco Dorigo, Volker Strobel, Christian Camacho-Villalón, Heiko Hamann, Heiko Hamann, Manuel López-Ibáñez, José García-Nieto, Andries Engelbrecht, Carlo Pinciroli
EditeurSpringer Science and Business Media Deutschland GmbH
Pages91-103
Nombre de pages13
ISBN (imprimé)9783031201752
Les DOIs
Etat de la publicationPublié - 2022
Evénement13th International Conference on Swarm Intelligence, ANTS 2022 - Malaga, Espagne
Durée: 2 nov. 20224 nov. 2022

Série de publications

NomLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume13491 LNCS
ISSN (imprimé)0302-9743
ISSN (Electronique)1611-3349

Une conférence

Une conférence13th International Conference on Swarm Intelligence, ANTS 2022
Pays/TerritoireEspagne
La villeMalaga
période2/11/224/11/22

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