Swarm robotics in wireless distributed protocol design for coordinating robots involved in cooperative tasks
Article
De Rango, F., Palmieri, N., Yang, X. and Marano, S. 2018. Swarm robotics in wireless distributed protocol design for coordinating robots involved in cooperative tasks. Soft Computing. 22 (13), pp. 4251-4266. https://doi.org/10.1007/s00500-017-2819-9
Type | Article |
---|---|
Title | Swarm robotics in wireless distributed protocol design for coordinating robots involved in cooperative tasks |
Authors | De Rango, F., Palmieri, N., Yang, X. and Marano, S. |
Abstract | The mine detection in an unexplored area is an optimization problem where multiple mines, randomly distributed throughout an area, need to be discovered and disarmed in a minimum amount of time. We propose a strategy to explore an unknown area, using a stigmergy approach based on ants behavior, and a novel swarm based protocol to recruit and coordinate robots for disarming the mines cooperatively. Simulation tests are presented to show the effectiveness of our proposed Ant-based Task Robot Coordination (ATRC) with only the exploration task and with both exploration and recruiting strategies. Multiple minimization objectives have been considered: the robots' recruiting time and the overall area exploration time. We discuss, through simulation, different cases under different network and field conditions, performed by the robots. The results have shown that the proposed decentralized approaches enable the swarm of robots to perform cooperative tasks intelligently without any central control. |
Keywords | Swarm intelligence; Ant algorithm; Distributed control; Self-coordination of mobile robots |
Publisher | Springer |
Journal | Soft Computing |
ISSN | 1432-7643 |
Electronic | 1433-7479 |
Publication dates | |
Online | 16 Sep 2017 |
Jul 2018 | |
Publication process dates | |
Deposited | 22 Sep 2017 |
Accepted | 07 Sep 2017 |
Output status | Published |
Accepted author manuscript | File Access Level Open |
Copyright Statement | his version of the article has been accepted for publication, after peer review and is subject to Springer Nature’s AM terms of use (https://www.springernature.com/gp/open-research/policies/accepted-ma...) , but is not the Version of Record and does not reflect post-acceptance improvements, or any corrections. The Version of Record is available online at: http://dx.doi.org/10.1007/s00500-017-2819-9 |
Digital Object Identifier (DOI) | https://doi.org/10.1007/s00500-017-2819-9 |
Web of Science identifier | WOS:000435408200009 |
Language | English |
https://repository.mdx.ac.uk/item/872z9
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