Traffic control for a swarm of robots: avoiding target congestion

Authors:
Leandro Soriano Marcolino;Luiz Chaimowicz
Affiliations:
Vision and Robotics Laboratory, Computer Science Department, Federal University of Minas Gerais, Brazil;Vision and Robotics Laboratory, Computer Science Department, Federal University of Minas Gerais, Brazil
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

One of the main problems in the navigation of robotic swarms is when several robots try to reach the same target at the same time, causing congestion situations that may compromise performance. In this paper, we propose a distributed coordination algorithm to alleviate this type of congestion. Using local sensing and communication, and controlling their actions using a probabilistic finite state machine, robots are able to coordinate themselves to avoid these situations. Simulations and real experiments were executed to study the performance and effectiveness of the proposed algorithm. Results show that the algorithm allows the swarm to have a more efficient and smoother navigation and is suitable for large groups of robots.