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Quantifying swarm resilience with simulated exploration of maze-like environments

Emmons Megan, Maciejewski Anthony A.

Journal of Automation Mobile Robotics and Intelligent Systems

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2023

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Vol. 17, No. 2

3--11

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.

2

Gathering over Meeting Nodes in Infinite Grid

Bhagat Subhash, Chakraborty Abhinav, Das Bibhuti, Mukhopadhyaya Krishnendu

Fundamenta Informaticae

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2022

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Vol. 187 nr 1

1--30

EN

The gathering over meeting nodes problem asks the robots to gather at one of the pre-defined meeting nodes. The robots are deployed on the nodes of an anonymous two-dimensional infinite grid which has a subset of nodes marked as meeting nodes. Robots are identical, autonomous, anonymous and oblivious. They operate under an asynchronous scheduler. They do not have any agreement on a global coordinate system. All the initial configurations for which the problem is deterministically unsolvable have been characterized. A deterministic distributed algorithm has been proposed to solve the problem for the remaining configurations. The efficiency of the proposed algorithm is studied in terms of the number of moves required for gathering. A lower bound concerning the total number of moves required to solve the gathering problem has been derived.

3

Overhead vision system for testing swarms and groups of wheeled robots

Wiech Jakub, Hendzel Zenon

Journal of Automation Mobile Robotics and Intelligent Systems

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2019

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Vol. 13, No. 2

15--22

EN

The paper describes how to use ArUco markers to determine the position and orientation of wheeled robots in 3D space. it is preceded by a general description on the testbed and a detailed description on the marker detection algorithm along with the camera calibration using the ChaArUco markers. The camera has been described and calibrated using the pinhole camera model, taking into account distortion on the lens. The second part oo the article describes the wheeled robots with their mechanical construction.