Overcoming Limited Onboard Sensing in Swarm Robotics Through Local Communication

Rodrigues, Tiago; Duarte, Miguel; Figueiró, Margarida; Costa, Vasco; Oliveira, Sancho; Christensen, Anders Lyhne

doi:10.1007/978-3-319-27543-7_10

Cited by 6 publications

(6 citation statements)

References 44 publications

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“…In large-scale swarms, different robots might be equipped with different types of communication capabilities and serve as gateways for the rest of the swarm [5], or a few of the robots may be equipped with different sensors payloads and share information with the neighboring robots [15]. Such approaches can allow for the increase of the swarm's capabilities, while keeping the cost of the average robot low.…”

Section: Discussionmentioning

confidence: 99%

Design and development of an inexpensive aquatic swarm robotics system

Costa

Duarte

Rodrigues

et al. 2016

OCEANS 2016 - Shanghai

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Swarm robotics is a promising approach characterized by large numbers of relatively small and inexpensive robots. Since such systems typically rely on decentralized control and local communication, they exhibit a number of interesting and useful properties, namely scalability, robustness to individual faults, and flexibility. In this paper, we detail the design and development process of a swarm robotics platform composed of autonomous surface robots, which was designed in order to study the use of robotic swarms in real-world environments. Our aquatic surface robots where manufactured using digital fabrication techniques, such as 3D printing and CNC milling, and all hardware and software has been made available as open-source, thus allowing third-parties to customize and further improve our platform.

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Section: Discussionmentioning

confidence: 99%

Design and development of an inexpensive aquatic swarm robotics system

Costa

Duarte

Rodrigues

et al. 2016

OCEANS 2016 - Shanghai

Self Cite

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“…The results of a number of quantitative experiments proved that the recognition accuracy of the system was effectively improved with the increase of the number of robots in the swarm, and the system was robust to heavy communication losses. Rodrigues et al [42] proposed a method to overcome the limitations of onboard sensors by sharing sensor information among swarm robots. The shared information was used to calculate the readings of the virtual collective sensor, which could provide the robot with information that could not be obtained through its onboard sensors, and the control center did not treat the infor-mation obtained by onboard sensors or collective sensor differently.…”

Section: Cooperative Control and Communication Of Intelligent Swarms Based On Distributed Sensor Fusionmentioning

confidence: 99%

Cooperative control and communication of intelligent swarms: a survey

Hou

Yang

et al. 2020

Control Theory Technol.

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Individuals exchange information, experience and strategy based on communication. Communication is the basis for individuals to form swarms and the bridge of swarms to realize cooperative control. In this paper, the multi-robot swarm and its cooperative control and communication methods are reviewed, and we summarize these methods from the task, control, and perception levels. Based on the research, the cooperative control and communication methods of intelligent swarms are divided into the following four categories: task assignment based methods (divided into market-based methods and alliance based methods), bio-inspired methods (divided into biochemical information inspired methods, vision based methods and self-organization based methods), distributed sensor fusion and reinforcement learning based methods, and we briefly define each method and introduce its basic ideas. Based on WOS database, we divide the development of each method into several stages according to the time distribution of the literature, and outline the main research content of each stage. Finally, we discuss the communication problems of intelligent swarms and the key issues, challenges and future work of each method.

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“…This belongs to the micro-macro-link challenges in collective systems: deriving individual rules from a global goal (i.e., the particular stimulus) and vice versa. This challenge brings along a list of additional research questions, such as how to define the sensory capabilities of agents (Rodrigues et al, 2015 ; Salva et al, 2015 ) and how to decide between homogeneous or heterogeneous individuals in terms of detection mechanisms and the associated costs. In case of heterogeneous individuals, the size of the different sub-populations and their spatial distribution needs to be investigated.…”

Section: The Neglected Pieces Of the Decision Process: Stimuli Andmentioning

confidence: 99%

The Neglected Pieces of Designing Collective Decision-Making Processes

2019

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Autonomous decision-making is a fundamental requirement for the intelligent behavior of individual agents and systems. For artificial systems, one of the key design prerequisites is providing the system with the ability to make proper decisions. Current literature on collective artificial systems designs decision-making mechanisms inspired mostly by the successful natural systems. Nevertheless, most of the approaches focus on voting mechanisms and miss other fundamental aspects. In this paper, we aim to draw attention to the missed pieces for the design of efficient collective decision-making, mainly information processes in its two types of stimuli and options set.

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Overcoming Limited Onboard Sensing in Swarm Robotics Through Local Communication

Cited by 6 publications

References 44 publications

Design and development of an inexpensive aquatic swarm robotics system

Design and development of an inexpensive aquatic swarm robotics system

Cooperative control and communication of intelligent swarms: a survey

The Neglected Pieces of Designing Collective Decision-Making Processes

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