Swarm Robots Crossing Small Voids: Practical Considerations
| Main Authors: | Niken, Syafitri, Crowder, Richard M., Chappell, Paul H. |
|---|---|
| Format: | Proceeding PeerReviewed Book |
| Bahasa: | eng |
| Terbitan: |
, 2017
|
| Online Access: |
http://eprints.itenas.ac.id/606/1/2017%20-%20conference%20accepted%20unpublished%20-%20IEEE%20SMC.pdf http://eprints.itenas.ac.id/606/ |
Daftar Isi:
- This paper discusses a strategy for a robotic swarm, consisting of small low cost mobile robots, to cross a void or crevice in the environment. To cross the void, the swarm robots are required to autonomously construct a structure. The individual swarm robots have no knowledge of the swarm size, the void location or its width. In addition all robots have an equal probability to locate the void and initiate the structures construction. Once all robots have crossed the void, they disassemble and continue with the task. If the swarm determines that there is not enough robots to reach the other side of the void while maintaining the structure’s stability, the structure will retreat and the robots disperse. This paper discusses the algorithm required to cross the void and the resulting simulation results, together the practical challenges of implementation such a system using low cost mobile robotic platforms.