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Résumé
Self-organised aggregation is one of the basic collective behaviours studied in swarm robotics. In this paper, we investigate an aggregation problem occurring on two different sites. Previous studies have shown that a minority of robots, informed about the site on which they have to aggregate, can control the final distribution of the entire robot swarm on the sites. We reproduce this strategy by adapting the previous probabilistic finite-state machine to a new simulated robotic platform: the Kilobot. Our simulation results highlight that the update time (i.e., the amount of time a robot waits before making a decision on leaving a site) impacts the dynamics of the aggregation process. Namely, a longer update time lowers the number of robots wandering in the arena, but can slow down the dynamics when the target final distribution is far from the one initially formed. To ensure a low number of wandering robots while maintaining a quick convergence towards the target final distribution of the swarm, we introduce the concept of a dynamic update time increasing during the aggregation process.
langue originale | Anglais |
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titre | Proceedings of the 16th International Conference on the Simulation of Adaptive Behavior |
Sous-titre | SAB2022 |
rédacteurs en chef | Lola Canamero, Philippe Gaussier, Myra Wilson, Sofiane Baucenna, Nicolas Couperlier |
Editeur | Springer |
Pages | 193-204 |
Nombre de pages | 12 |
ISBN (Electronique) | 978-3-031-16770-6 |
ISBN (imprimé) | 978-3-031-16769-0 |
Les DOIs | |
Etat de la publication | Publié - sept. 2022 |
Evénement | 16th International Conference on Simulation of Adaptive Behavior - Cergy-Pontoise, France Durée: 20 sept. 2022 → 23 sept. 2022 |
Série de publications
Nom | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
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Volume | 13499 LNAI |
ISSN (imprimé) | 0302-9743 |
ISSN (Electronique) | 1611-3349 |
Une conférence
Une conférence | 16th International Conference on Simulation of Adaptive Behavior |
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Titre abrégé | SAB 2022 |
Pays/Territoire | France |
La ville | Cergy-Pontoise |
période | 20/09/22 → 23/09/22 |
Empreinte digitale
Examiner les sujets de recherche de « Impact of the Sampling Time on the Aggregation of Robotic Swarms through Informed Robots ». Ensemble, ils forment une empreinte digitale unique.Activités
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16th International Conference on Simulation of Adaptive Behavior
Antoine SION (Orateur)
20 sept. 2022 → 23 sept. 2022Activité: Participation ou organisation d'un événement › Participation à une conférence, un congrès