Quantifying swarm resilience with simulated exploration of maze-like environments

• Autorzy: Emmons Megan , Maciejewski Anthony A.

Identyfikatory

DOI

10.14313/JAMRIS/2‐2023/10

• Języki publikacji: EN

Abstrakty

EN

Artificial swarms have the potential to provide robust, efficient solutions for a broad range of applications from assisting search and rescue operations to exploring remote planets. However, many fundamental obstacles still need to be overcome to bridge the gap between theory and application. In this characterization work, we demonstrate how a human rescuer can leverage mini‐ mal local observations of emergent swarm behavior to locate a lone survivor in a maze‐like environment. The simulated robots and rescuer have limited sensing and no communication capabilities to model a worst‐case scenario. We then explore the impact of fundamental properties at the individual robot level on the utility of the emergent behavior to direct swarm design choices. We further demonstrate the relative robustness of the simulated robotic swarm by quantifying how reasonable probabilistic failure affects the rescue time in a complex environment. These results are compared to the theo‐ retical performance of a single wall‐following robot to further demonstrate the potential benefits of utilizing robotic swarms for rescue operations.

Słowa kluczowe

EN

swarm robotics

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2023
• Tom: Vol. 17, No. 2
• Strony: 3--11
• Opis fizyczny: Bibliogr. 25 poz., rys.

Twórcy

autor

Emmons Megan

• Colorado State University, Fort Collins, CO 80523, USA

autor

Maciejewski Anthony A.

• Colorado State University, Fort Collins, CO 80523, USA

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2024).