Cooperative Mobile Robotics: Antecedents and Directions
Autonomous Robots
Multiagent traffic management: an improved intersection control mechanism
Proceedings of the fourth international joint conference on Autonomous agents and multiagent systems
ACM SIGGRAPH 2006 Papers
Traffic control for a swarm of robots: avoiding target congestion
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Communication in a swarm of miniature robots: the e-Puck as an educational tool for swarm robotics
SAB'06 Proceedings of the 2nd international conference on Swarm robotics
Traffic control for a swarm of robots: avoiding target congestion
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
The 10th International Conference on Autonomous Agents and Multiagent Systems - Volume 1
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A very common problem in the navigation of robotic swarms is when groups of robots move into opposite directions, causing congestion situations that may compromise performance. In this paper, we propose a distributed coordination algorithm to alleviate this type of congestion. By working collaboratively, and warning their teammates about a congestion risk, robots are able to coordinate themselves to avoid these situations. We executed simulations and real experiments to study the performance and effectiveness of the proposed algorithm. Results show that the algorithm allows the swarm to navigate in a smoother and more efficient fashion, and is suitable for large groups of robots.