NDLI: Cooperative navigation in robotic swarms

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Cooperative navigation in robotic swarms

Content Provider	Springer Nature Link
Author	Ducatelle, Frederick Caro, Gianni A. Förster, Alexander Bonani, Michael Dorigo, Marco Magnenat, Stéphane Mondada, Francesco O’Grady, Rehan Pinciroli, Carlo Rétornaz, Philippe Trianni, Vito Gambardella, Luca M.
Copyright Year	2013
Abstract	We study cooperative navigation for robotic swarms in the context of a general event-servicing scenario. In the scenario, one or more events need to be serviced at specific locations by robots with the required skills. We focus on the question of how the swarm can inform its members about events, and guide robots to event locations. We propose a solution based on delay-tolerant wireless communications: by forwarding navigation information between them, robots cooperatively guide each other towards event locations. Such a collaborative approach leverages on the swarm’s intrinsic redundancy, distribution, and mobility. At the same time, the forwarding of navigation messages is the only form of cooperation that is required. This means that the robots are free in terms of their movement and location, and they can be involved in other tasks, unrelated to the navigation of the searching robot. This gives the system a high level of flexibility in terms of application scenarios, and a high degree of robustness with respect to robot failures or unexpected events. We study the algorithm in two different scenarios, both in simulation and on real robots. In the first scenario, a single searching robot needs to find a single target, while all other robots are involved in tasks of their own. In the second scenario, we study collective navigation: all robots of the swarm navigate back and forth between two targets, which is a typical scenario in swarm robotics. We show that in this case, the proposed algorithm gives rise to synergies in robot navigation, and it lets the swarm self-organize into a robust dynamic structure. The emergence of this structure improves navigation efficiency and lets the swarm find shortest paths.
Starting Page	1
Ending Page	33
Page Count	33
File Format	PDF
ISSN	19353812
Journal	Swarm Intelligence
Volume Number	8
Issue Number	1
e-ISSN	19353820
Language	English
Publisher	Springer US
Publisher Date	2013-11-23
Publisher Place	Boston
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Swarm robotics Cooperative navigation Self-organization 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

Sl.	Authority	Responsibilities	Communication Details
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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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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