Distributed shortest-path finding by a micro-robot swarm

Authors:
Marc Szymanski;Tobias Breitling;Jörg Seyfried;Heinz Wörn
Affiliations:
Institute for Process Control and Robotics (IPR), Universität Karlsruhe, Karlsruhe, Germany;Institute for Process Control and Robotics (IPR), Universität Karlsruhe, Karlsruhe, Germany;Institute for Process Control and Robotics (IPR), Universität Karlsruhe, Karlsruhe, Germany;Institute for Process Control and Robotics (IPR), Universität Karlsruhe, Karlsruhe, Germany
Venue:
ANTS'06 Proceedings of the 5th international conference on Ant Colony Optimization and Swarm Intelligence
Year:
2006

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Abstract

This paper describes a distributed algorithm for solving the shortest path problem with a swarm of JASMINE micro-robots. Each robot is only connected via infra-red communication with its neighbours. Based on local information exchange and some simple rules the swarm manages to find the shortest path (shortest path in the number of robots on the path) in a labyrinth with dead-ends and cycles. The full algorithm and simulation results are presented in this paper.