Experiments in the Coordination of Large Groups of Robots

Authors:
Leandro Soriano Marcolino;Luiz Chaimowicz
Affiliations:
VeRLab - Vision and Robotics Laboratory Computer Science Department - UFMG, Brazil;VeRLab - Vision and Robotics Laboratory Computer Science Department - UFMG, Brazil
Venue:
SBIA '08 Proceedings of the 19th Brazilian Symposium on Artificial Intelligence: Advances in Artificial Intelligence
Year:
2008

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Abstract

The use of large groups of robots, generally called swarms, has gained increased attention in recent years. In this paper, we present and experimentally validate an algorithm that allows a swarm of robots to navigate in an environment containing unknown obstacles. A coordination mechanism based on dynamic role assignment and local communication is used to help robots that may get stuck in regions of local minima. Experiments were performed using both a realistic simulator and a group of real robots and the obtained results showed the feasibility of the proposed approach.