2.5D infrared range and bearing system for collective robotics
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Self-assembly strategies in a group of autonomous mobile robots
Autonomous Robots
Establishing spatially targeted communication in a heterogeneous robot swarm
Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 1 - Volume 1
Robots autonomously self-assemble into dedicated morphologies to solve different tasks
Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 1 - Volume 1
Hi-index | 0.00 |
We consider a heterogeneous swarm robotic system composed of wheeled and aerial robots called foot-bots and eye-bots, respectively. The foot-bots are able to physically connect to one another autonomously and thus form collective robotic entities. Eye-bots have a privileged overview of the environment since they can fly and attach to metal ceilings. In this paper, we show how the heterogeneous swarm can benefit from cooperation. By using so-called spatially targeted communication, the eye-bot is able to communicate with selected groups of foot-bots and instruct them on how to overcome obstacles in their path by forming morphologies appropriate to the obstacle encountered. We conduct experiments in simulation to quantify separately the benefits of cooperation and of spatially targeted communication.