Robot swarms have shown great potential for exploration of unknown environments, utilizing simple robots with local interaction and limited sensing. Despite this, complex indoor environments can create issues for reactive swarm behaviours where specific paths need to be travelled and bottlenecks are present. In this paper we present our social exploration algorithm which allows the swarm to decide between different options of swarm behaviours to search randomly generated environments. Using a “happiness” measure, agents can reason over the performance of different swarm behaviours, aiming to promote free movement. Agents collaborate to share opinions of different behaviours, forming teams which are capable of adapting their exploration to any given environment. We demonstrate the ability of the swarm to explore complex environments with minimal information and highlight increased performance in relation to other swarm behaviours over 250 randomly generated environments.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Social Exploration in Robot Swarms


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    Bourgeois, Julien (Herausgeber:in) / Paik, Jamie (Herausgeber:in) / Piranda, Benoît (Herausgeber:in) / Werfel, Justin (Herausgeber:in) / Hauert, Sabine (Herausgeber:in) / Pierson, Alyssa (Herausgeber:in) / Hamann, Heiko (Herausgeber:in) / Lam, Tin Lun (Herausgeber:in) / Matsuno, Fumitoshi (Herausgeber:in) / Mehr, Negar (Herausgeber:in)

    Kongress:

    International Symposium on Distributed Autonomous Robotic Systems ; 2022 ; Montbéliard, France November 28, 2022 - November 30, 2022



    Erscheinungsdatum :

    2024-02-01


    Format / Umfang :

    14 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Robot Swarms for Planetary Exploration

    Stormont, Daniel P. | ASCE | 2000


    Robot Swarms

    Morring, Frank, Jr. | NTRS | 2005


    Collaborating Human - Robot Swarms to Achieve Robust Space Exploration Capabilities

    Erkorkmaz, Catherine / Rosenbush, David / Hodgson, Edward et al. | SAE Technical Papers | 2006


    Model Predictive Control of Robot Swarms

    Darling, Richard / Phan, Minh | AIAA | 2006


    BLISS: Interplanetary exploration with swarms of low-cost spacecraft

    Alvara, Alexander N. / Lee, Lydia / Sin, Emmanuel et al. | Elsevier | 2023