Ulrich Dah-Achinanon, Seyed Ehsan Marjani Bajestani, Pierre-Yves Lajoie, Giovanni Beltrame
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Designing and deploying autonomous swarms capable of performing collective tasks in real-world is extremely challenging. One drawback of getting out of the lab is that realistic tasks involve long distances with limited numbers of robots, leading to sparse and intermittent connectivity. As an example, search and rescue requires robots to coordinate in their search, and relay the information of found targets. The search’s effectiveness is greatly reduced if robots must stay close to maintain connectivity. This paper proposes a decentralized search system that only requires sporadic connectivity and allows information diffusion through the swarm whenever possible. Our robots share and update a distributed belief map, to coordinate the search. Once a target is detected, the robots form a communication relay between a base station and the target’s position. We show the applicability of our system both in simulation and with real-world experiments with a small swarm of drones.
期刊介绍:
Autonomous Robots reports on the theory and applications of robotic systems capable of some degree of self-sufficiency. It features papers that include performance data on actual robots in the real world. Coverage includes: control of autonomous robots · real-time vision · autonomous wheeled and tracked vehicles · legged vehicles · computational architectures for autonomous systems · distributed architectures for learning, control and adaptation · studies of autonomous robot systems · sensor fusion · theory of autonomous systems · terrain mapping and recognition · self-calibration and self-repair for robots · self-reproducing intelligent structures · genetic algorithms as models for robot development.
The focus is on the ability to move and be self-sufficient, not on whether the system is an imitation of biology. Of course, biological models for robotic systems are of major interest to the journal since living systems are prototypes for autonomous behavior.