NDLI: Cache consensus: rapid object sorting by a robotic swarm

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Cache consensus: rapid object sorting by a robotic swarm

Content Provider	Springer Nature Link
Author	Vardy, Andrew Vorobyev, Gregory Banzhaf, Wolfgang
Copyright Year	2014
Abstract	We present a new method which allows a swarm of robots to sort arbitrarily arranged objects into homogeneous clusters. In the ideal case, a distributed robotic sorting method should establish a single homogeneous cluster for each object type. This can be achieved with existing methods, but the rate of convergence is considered too slow for real-world application. Previous research on distributed robotic sorting is typified by randomised movement with a pick-up/deposit behaviour that is a probabilistic function of local object density. We investigate whether the ability of each robot to localise and return to remembered places can improve distributed sorting performance. In our method, each robot maintains a cache point for each object type. Upon collecting an object, it returns to add this object to the cluster surrounding the cache point. Similar to previous biologically inspired work on distributed sorting, no explicit communication between robots is implemented. However, the robots can still come to a consensus on the best cache for each object type by observing clusters and comparing their sizes with remembered cache sizes. We refer to this method as cache consensus. Our results indicate that incorporating this localisation capability enables a significant improvement in the rate of convergence. We present experimental results using a realistic simulation of our targeted robotic platform. A subset of these experiments is also validated on physical robots.
Starting Page	61
Ending Page	87
Page Count	27
File Format	PDF
ISSN	19353812
Journal	Swarm Intelligence
Volume Number	8
Issue Number	1
e-ISSN	19353820
Language	English
Publisher	Springer US
Publisher Date	2014-01-24
Publisher Place	Boston
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Swarm robotics Patch sorting Clustering Localisation Artificial Intelligence (incl. Robotics) Computer Systems Organization and Communication Networks ApplicationMathematics/Computational Methods of Engineering Communications Engineering, Networks Computer Communication Networks
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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