Dual-swarm features and its challenges for system of sensor networks and mobile multi-robots

Authors:
Wenfeng Li
Affiliations:
School of Logistics Engineering, Wuhan University of Technology, Wuhan, China
Venue:
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
Year:
2009

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Abstract

A swarm is a decentralized and selforganized collective with lots of simple but autonomous and homogeneous individuals. Swarm intelligence is defined to describe its emergent behaviors. Both Sensor networks and mobile multi-robots can have swarm features. The combination and cooperation of these two systems is a tendency recently. From the view of swarm organisms, the challenges of combination of sensor networks and mobile multi-robots are discussed and a layered dual-swarm framework is presented, which has a 3D communication structure, and which is possible to organically inherit traditional swarm technology while building an efficient interaction channel for both swarms to cooperatively work together. Finally, a control strategy based on virtual entities is introduced to induce and control the behaviors of the robot swarm through wireless sensor networks.