Dynamic optimization of a heterogeneous swarm of robots

Authors:
Miles C. D. Pekala;Eugenio Schuster
Affiliations:
Lehigh University, Bethlehem, PA;Lehigh University, Bethlehem, PA
Venue:
ISC '07 Proceedings of the 10th IASTED International Conference on Intelligent Systems and Control
Year:
2007

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Abstract

The control mechanisms of swarms of cooperating robots have been studied for some time now, but usually assuming homogeneous swarms. This paper presents a control algorithm for a heterogeneous swarm of cooperating robots based on a modification of the ant colony optimization (ACO) method. We consider the possibility of a partially disabled robot, we analyze the effect it would have on a heterogeneous swarm of robots, and we discuss how to work around the disability. We examine the effectivness of this control algorithm through a simulation study. For this purpose, a biologically inspired strategy is used for the movement of the robots.