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Soft Computing
Published in: Soft Computing 13/2018

16-09-2017 | Focus

Swarm robotics in wireless distributed protocol design for coordinating robots involved in cooperative tasks

Authors: Floriano De Rango, Nunzia Palmieri, Xin-She Yang, Salvatore Marano

Published in: Soft Computing | Issue 13/2018

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Abstract

The mine detection in an unexplored area is an optimization problem where multiple mines, randomly distributed throughout an area, need to be discovered and disarmed in a minimum amount of time. We propose a strategy to explore an unknown area, using a stigmergy approach based on ants behavior, and a novel swarm-based protocol to recruit and coordinate robots for disarming the mines cooperatively. Simulation tests are presented to show the effectiveness of our proposed ant-based task robot coordination with only the exploration task and with both exploration and recruiting strategies. Multiple minimization objectives have been considered: the robots’ recruiting time and the overall area exploration time. We discuss, through simulation, different cases under different network and field conditions, performed by the robots. The results have shown that the proposed decentralized approaches enable the swarm of robots to perform cooperative tasks intelligently without any central control.
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Metadata
Title
Swarm robotics in wireless distributed protocol design for coordinating robots involved in cooperative tasks
Authors
Floriano De Rango
Nunzia Palmieri
Xin-She Yang
Salvatore Marano
Publication date
16-09-2017
Publisher
Springer Berlin Heidelberg
Published in
Soft Computing / Issue 13/2018
Print ISSN: 1432-7643
Electronic ISSN: 1433-7479
DOI
https://doi.org/10.1007/s00500-017-2819-9

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