@inproceedings{58580671890f45c1b03cead90d8c6c57,
title = "A bio-inspired approach for collaborative exploration with mobile battery recharging in swarm robotics",
abstract = "Swarm Robotics are widely conceived as the development of new computationally efficient tools and techniques aimed at easing and enhancing the coordination of multiple robots towards collaboratively accomplishing a certain mission or task. Among the different criteria under which the performance of Swarm Robotics can be gauged, energy efficiency and battery lifetime have played a major role in the literature. However, technological advances favoring power transfer among robots have unleashed new paradigms related to the optimization of the battery consumption considering it as a resource shared by the entire swarm. This work focuses on this context by elaborating on a routing problem for collaborative exploration in Swarm Robotics, where a subset of robots is equipped with battery recharging functionalities. Formulated as a bi-objective optimization problem, the quality of routes is measured in terms of the Pareto trade-off between the predicted area explored by robots and the risk of battery outage in the swarm. To efficiently balance these conflicting two objectives, a bio-inspired evolutionary solver is adopted and put to practice over a realistic experimental setup implemented in the VREP simulation framework. Obtained results elucidate the practicability of the proposed scheme, and suggest future research leveraging power transfer capabilities over the swarm.",
keywords = "Battery recharging, NSGAII, Routing, Swarm robotics",
author = "Maria Carrillo and Ian Gallardo and {Del Ser}, Javier and Eneko Osaba and Javier Sanchez-Cubillo and Bilbao, {Miren Nekane} and Akemi G{\'a}lvez and Andr{\'e}s Iglesias",
note = "Publisher Copyright: {\textcopyright} 2018, Springer International Publishing AG, part of Springer Nature.; 8th International Conference on Bioinspired Optimization Methods and Their Applications, BIOMA 2018 ; Conference date: 16-05-2018 Through 18-05-2018",
year = "2018",
doi = "10.1007/978-3-319-91641-5_7",
language = "English",
isbn = "9783319916408",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "75--87",
editor = "Nouredine Melab and Peter Korosec and El-Ghazali Talbi",
booktitle = "Bioinspired Optimization Methods and Their Applications - 8th International Conference, BIOMA 2018, Proceedings",
address = "Germany",
}
