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Autonomous Robots
Erschienen in: Autonomous Robots 6/2017

10.06.2016

Avoiding target congestion on the navigation of robotic swarms

verfasst von: Leandro Soriano Marcolino, Yuri Tavares dos Passos, Álvaro Antônio Fonseca de Souza, Andersoney dos Santos Rodrigues, Luiz Chaimowicz

Erschienen in: Autonomous Robots | Ausgabe 6/2017

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Abstract

Robotic swarms are decentralized systems formed by a large number of robots. A common problem encountered in a swarm is congestion, as a great number of robots often must move towards the same region. This happens when robots have a common target, for example during foraging or waypoint navigation. We propose three algorithms to alleviate congestion: in the first, some robots stop moving towards the target for a random number of iterations; in the second, we divide the scenario in two regions: one for the robots that are moving towards the target, and another for the robots that are leaving the target; in the third, we combine the two previous algorithms. We evaluate our algorithms in simulation, where we show that all of them effectively improve navigation. Moreover, we perform an experimental analysis in the real world with ten robots, and show that all our approaches improve navigation with statistical significance.
Vorheriger Artikel Orbital stabilization of an underactuated bipedal gait via nonlinear -control using measurement feedback
Nächster Artikel Distributed on-line dynamic task assignment for multi-robot patrolling

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Metadaten
Titel
Avoiding target congestion on the navigation of robotic swarms
verfasst von
Leandro Soriano Marcolino
Yuri Tavares dos Passos
Álvaro Antônio Fonseca de Souza
Andersoney dos Santos Rodrigues
Luiz Chaimowicz
Publikationsdatum
10.06.2016
Verlag
Springer US
Erschienen in
Autonomous Robots / Ausgabe 6/2017
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-016-9577-x

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