Difference between revisions of "Swarm Robotics"
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These behaviors allow the robots in a swarm to take a common choice on a given issue. | These behaviors allow the robots in a swarm to take a common choice on a given issue. | ||
* '''Consensus''' allows the individual robots in the swarm to agree on or converge toward a single common choice from several alternatives. | * '''Consensus''' allows the individual robots in the swarm to agree on or converge toward a single common choice from several alternatives. | ||
| − | * Task allocation assigns arising tasks dynamically to the individual robots of the swarm. Its goal is to maximize performance of the entire swarm system. If the robots have heterogeneous capabilities, the tasks can be distributed accordingly to further increase the system's performance. | + | * '''Task allocation''' assigns arising tasks dynamically to the individual robots of the swarm. Its goal is to maximize performance of the entire swarm system. If the robots have heterogeneous capabilities, the tasks can be distributed accordingly to further increase the system's performance. |
* '''Collective fault detection''' within the swarm of robots determines deficiencies of individual robots. It allows to determine robots that deviate from the desired behavior of the swarm, e.g., due to hardware failures. | * '''Collective fault detection''' within the swarm of robots determines deficiencies of individual robots. It allows to determine robots that deviate from the desired behavior of the swarm, e.g., due to hardware failures. | ||
* '''Collective perception''' combines the data locally sensed by the robots in the swarm into a big picture. It allows the swarm to make collective decisions in an informed way, e.g., to classify objects reliably, allocate an appropriate fraction of robots to a specific task, or to determine the optimal solution to a global problem. See section 2.2 for more details. | * '''Collective perception''' combines the data locally sensed by the robots in the swarm into a big picture. It allows the swarm to make collective decisions in an informed way, e.g., to classify objects reliably, allocate an appropriate fraction of robots to a specific task, or to determine the optimal solution to a global problem. See section 2.2 for more details. | ||
Revision as of 22:32, 13 November 2023
Context
Swarm robotics is a field of robotics that studies the behavior of large groups of relatively simple robots that work together to accomplish tasks. The applications of swarm robotics are diverse and include tasks that demand miniaturization, such as distributed sensing tasks in micromachinery or the human body, and search and rescue missions. Swarm robotics can also be used to tackle dangerous tasks to reduce or eliminate the risk for humans, such as cleanup of toxic spills and demining. Other potential applications of swarm robotics include object clustering, assembling and construction, collective search and exploration, coordinated motion, collective transportation, self-deployment, and foraging.[1]
Decision Making
These behaviors allow the robots in a swarm to take a common choice on a given issue.
- Consensus allows the individual robots in the swarm to agree on or converge toward a single common choice from several alternatives.
- Task allocation assigns arising tasks dynamically to the individual robots of the swarm. Its goal is to maximize performance of the entire swarm system. If the robots have heterogeneous capabilities, the tasks can be distributed accordingly to further increase the system's performance.
- Collective fault detection within the swarm of robots determines deficiencies of individual robots. It allows to determine robots that deviate from the desired behavior of the swarm, e.g., due to hardware failures.
- Collective perception combines the data locally sensed by the robots in the swarm into a big picture. It allows the swarm to make collective decisions in an informed way, e.g., to classify objects reliably, allocate an appropriate fraction of robots to a specific task, or to determine the optimal solution to a global problem. See section 2.2 for more details.
- Synchronization aligns frequency and phase of oscillators of the robots in the swarm. Thereby, the robots have a common understanding of time which allows them to perform actions synchronously. See section 2.2 for more details.
- Group size regulation allows the robots in the swarm to form groups of desired size. If the size of the swarm exceeds the desired group size, it splits into multiple groups.
References
- ↑ Melanie Schranz +3, Swarm Robotic Behaviors and Current Applications (2020-04-02) frontiers https://www.frontiersin.org/articles/10.3389/frobt.2020.00036/full
Other Material
- See wiki page on Self-organization
