Niken, Syafitri and Crowder, Richard M. and Chappell, Paul H. (2017) Swarm Robots Crossing Small Voids: Practical Considerations. In: conference accepted unpublished - IEEE SMC.
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2017 - conference accepted unpublished - IEEE SMC.pdf Download (1MB) | Preview |
Abstract
This paper discusses a strategy for a robotic swarm, consisting of small low cost mobile robots, to cross a void or crevice in the environment. To cross the void, the swarm robots are required to autonomously construct a structure. The individual swarm robots have no knowledge of the swarm size, the void location or its width. In addition all robots have an equal probability to locate the void and initiate the structures construction. Once all robots have crossed the void, they disassemble and continue with the task. If the swarm determines that there is not enough robots to reach the other side of the void while maintaining the structure’s stability, the structure will retreat and the robots disperse. This paper discusses the algorithm required to cross the void and the resulting simulation results, together the practical challenges of implementation such a system using low cost mobile robotic platforms.
| Item Type: | Conference or Workshop Item (UNSPECIFIED) |
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| Divisions: | Karya Tulis Ilmiah |
| Depositing User: | Asep Kamaludin |
| Date Deposited: | 20 Jan 2020 02:07 |
| Last Modified: | 20 Jan 2020 02:07 |
| URI: | http://eprints.itenas.ac.id/id/eprint/606 |
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