2019 International Conference on Robotics and Automation (ICRA) 2019
DOI: 10.1109/icra.2019.8794124
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Abstract: In densely-packed robot swarms operating in confined regions, spatial interference -which manifests itself as a competition for physical space -forces robots to spend more time navigating around each other rather than performing the primary task. This paper develops a decentralized algorithm that enables individual robots to decide whether to stay in the region and contribute to the overall mission, or vacate the region so as to reduce the negative effects that interference has on the overall efficiency of the… Show more

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Cited by 12 publications
(7 citation statements)
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“…if the swarm exceeds its critical size S c of collecting workers it cannot achieve the maximum yield it could possibly achieve for a smaller number of workers involved in the resource transportation. This result highlights the importance of controlling the number of workers to maximise the global intake; a strategy implemented in a decentralised fashion by ants (Charbonneau et al 2015;Pagliara et al 2018), and recently investigated in the context of swarm robotics (Mayya et al 2019).…”
Section: Critical Swarm Size For Equal Qualities and Equal Distancesmentioning
confidence: 77%
See 1 more Smart Citation
“…if the swarm exceeds its critical size S c of collecting workers it cannot achieve the maximum yield it could possibly achieve for a smaller number of workers involved in the resource transportation. This result highlights the importance of controlling the number of workers to maximise the global intake; a strategy implemented in a decentralised fashion by ants (Charbonneau et al 2015;Pagliara et al 2018), and recently investigated in the context of swarm robotics (Mayya et al 2019).…”
Section: Critical Swarm Size For Equal Qualities and Equal Distancesmentioning
confidence: 77%
“…We have further derived an optimality model accounting for congestion costs in foraging and examined the effect of resource distribution and colony size on the optimal distribution of foragers over forage patches. While others have previously considered the effect of colony size on recruitment strategy (Planqué et al 2010;Pagliara et al 2018;Mayya et al 2019), our analysis instead assumes the recruitment strategy, and considers the optimal distribution. Our simple heuristic agent controllers are able to approximate the optimal distribution for relatively small swarm sizes, although large swarms depart from optimality.…”
Section: Discussionmentioning
confidence: 99%
“…On the one hand this spontaneous exploration may drive the system away from the consensus. On the other hand it allows regular exploration of different behaviours which may enable the group to better adapt to changing conditions or dynamic swarm densities (Mayya et al 2019;Wahby et al 2019).…”
Section: Introductionmentioning
confidence: 99%
“…Such an analysis could potentially provide additional information to improve the system design. Similarly to previous models of scalability, our model is also limited to static systems that do not vary the number of units (e.g., in robotics see Buyya et al [2009], Wahby et al [2019], Mayya et al [2019], Rausch et al [2019]) or the task (e.g., Matarić et al [2003]) at runtime. Our model, however, has potential to be extended for such cases by modifying the state transitions to include 'birth' and 'death' of units (system size variation), and by introducing time-varying parameters (dynamic tasks).…”
Section: Discussionmentioning
confidence: 99%