Using hardware specialization and hierarchy to simplify robotic swarms

TitleUsing hardware specialization and hierarchy to simplify robotic swarms
Publication TypeConference Paper
Year of Publication2018
AuthorsEspinosa, G., and M. Rubenstein
Conference NameICRA - International Conference on Robotics and Automation
Date Published05/2018
PublisherIEEE
Conference LocationBrisbane - Australia
Keywordsheterogeneous, hierarchy, swarms
Abstract

Specialization has always been a tool for work distribution and simplification in nature and in distributed robotics. We present a novel approach to use hardware specialization hierarchically to enhance the capabilities of a swarm without increasing complexity, allowing a numerous group of robots to benefit from the extended features of a few to complete a task that was impossible for them before. We tested the concept under a simulated environment with a classical distributed robotics problem, shape formation, and validated the simulated results against a real experiment.

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