Distributed Coordination of Heterogeneous Robotic Swarms Using Stochastic Diffusion Search

Eneko Osaba, Javier Del Ser, Xabier Jubeto, Andrés Iglesias, Iztok Fister, Akemi Gálvez

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

Resumen

The term Swarm Robotics collectively refers to a population of robotic devices that efficiently undertakes diverse tasks in a collaborative way by virtue of computational intelligence techniques. This paradigm has given rise to a profitable stream of contributions in recent years, all sharing a clear consensus on the performance benefits derived from the increased exploration capabilities offered by Swarm Robotics. This manuscript falls within this topic: specifically, it gravitates on an heterogeneous Swarm Robotics system that relies on Stochastic Diffusion Search (SDS) as the coordination heuristics for the exploration, location and delimitation of areas scattered over the area in which robots are deployed. The swarm is composed by agents of diverse kind, which can be ground robots or flying devices. These agents communicate to each other and cooperate towards the accomplishment of the exploration tasks comprising the mission of the overall swarm. Furthermore, maps contain several obstacles and dangers, implying that in order to enter a specific area, robots should meet certain conditions. Experiments are conducted over three different maps and three implemented solving approaches. Conclusions are drawn from the obtained results, confirming that i) SDS allows for a lightweight, heuristic mechanism for the coordination of the robots; and ii) the most efficient swarming approach is the one comprising a heterogeneity of ground and aerial robots.
Idioma originalInglés
Título de la publicación alojadaunknown
EditoresCesar Analide, Paulo Novais, David Camacho, Hujun Yin
EditorialSpringer
Páginas79-91
Número de páginas13
Volumen12490
ISBN (versión impresa)978-3-030-62365-4; 978-3-030-62364-7, 9783030623647
DOI
EstadoPublicada - 27 oct 2020
Evento21th International Conference on Intelligent Data Engineering and Automated Learning, IDEAL 2020 - Guimaraes, Portugal
Duración: 4 nov 20206 nov 2020

Serie de la publicación

Nombre0302-9743

Conferencia

Conferencia21th International Conference on Intelligent Data Engineering and Automated Learning, IDEAL 2020
País/TerritorioPortugal
CiudadGuimaraes
Período4/11/206/11/20

Palabras clave

  • Swarm Robotics
  • Stochastic Diffusion Search
  • Swarm Intelligence
  • Unmanned Aerial Vehicles
  • Robotics

Project and Funding Information

  • Funding Info
  • Basque Government for its support through the EMAITEK and ELKARTEK (Elkarbot project) programs. Javier Del Ser also receives support from the Consolidated Research Group MATHMODE (IT1294-19) granted by the Department of Education of this institution.

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