Wireless Communications for Distributed Navigation in Robot Swarms

Authors:
Gianni A. Caro;Frederick Ducatelle;Luca M. Gambardella
Affiliations:
"Dalle Molle" Institute for Artificial Intelligence Studies (IDSIA), Manno, Switzerland 6928;"Dalle Molle" Institute for Artificial Intelligence Studies (IDSIA), Manno, Switzerland 6928;"Dalle Molle" Institute for Artificial Intelligence Studies (IDSIA), Manno, Switzerland 6928
Venue:
EvoWorkshops '09 Proceedings of the EvoWorkshops 2009 on Applications of Evolutionary Computing: EvoCOMNET, EvoENVIRONMENT, EvoFIN, EvoGAMES, EvoHOT, EvoIASP, EvoINTERACTION, EvoMUSART, EvoNUM, EvoSTOC, EvoTRANSLOG
Year:
2009

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Abstract

We consider a swarm of robots equipped with an infrared range and bearing device that is able both to make estimates of the relative distance and angle between two robots in line-of-sight and to transfer data between them. Through the infrared range and bearing device, the robots create a line-of-sight mobile ad hoc network. We investigate different ways to implement a swarm-level distributed navigation function exploiting the routing information gathered within this network. In the scenario we consider, a number of different events present themselves in different locations. To be serviced, each event requires that a robot with the appropriate skills comes to its location. We present two swarm-level solutions for guiding the navigation of the selected robots towards the events. We use a bio-inspired ad hoc network routing protocol to dynamically find and maintain paths between a robot and an event location in the mobile line-of-sight network, and use them to guide the robot to its goal. The performance of the two approaches is studied in a number of network scenarios presenting different density, mobility, and bandwidth availability.