Wave algorithm applied to collective navigation of robotic swarms |
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| Affiliation: | 1. Federal University of Rio de Janeiro, Rio de Janeiro, Brazil;2. State University of Rio de Janeiro, Rio de Janeiro, Brazil;1. Department of Electrical Engineering, COMSATS Institute of Information Technology, Attock Campus, Attock, Pakistan;2. Department of Mathematics, Preston University Kohat, Islamabad Campus, Islamabad, Pakistan;3. Department of Electrical Engineering, Capital University of Science and Technology, Islamabad, Pakistan;1. Key Laboratory of Computational Intelligence and Chinese Information Processing of Ministry of Education, School of Computer and Information Technology, Shanxi University, Taiyuan 030006, China;2. College of Computer Sciences & Software Engineering, Shenzhen University, Shenzhen 518060, China;1. Faculty of Mathematics and Information Science, Warsaw University of Technology, ul. Koszykowa 75, 00-662 Warsaw, Poland;2. Faculty of Economics and Informatics in Vilnius, University of Bialystok, Kalvariju G. 135, LT-08221 Vilnius, Lithuania;3. Department of Electrical & Computer Engineering, University of Alberta, Edmonton, T6R 2V4 AB, Canada;4. Department of Electrical and Computer Engineering, Faculty of Engineering, King Abdulaziz University, Jeddah, 21589, Saudi Arabia;5. Systems Research Institute, Polish Academy of Sciences, Warsaw, Poland;1. Department of Mathematics, Kohat University of Science & Technology, KPK, Pakistan;2. Department of Mathematical Sciences, University of Essex, Colchester, UK;3. Hacettepe University, Department of Statistics, 06800 Beytepe, Ankara Turkey;4. Department of Mathematics, Jinnah College for Women Peshawar, KPK, Pakistan;1. Department of Mechanical Engineering, University of Texas at Austin, USA;2. Department of Mechatronics & Control Engineering, University of Engineering & Technology, Lahore, Pakistan |
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| Abstract: | In swarm robotics, it is necessary to develop methods and strategies that guide the collective execution of tasks by the robots. The design of such tasks can be done considering it as a collection of simpler behaviors, called subtasks. In this paper, the Wave Swarm is presented as a general strategy to manage the sequence of subtasks that compose the collective navigation, which is an important task in swarm robotics. The proposed strategy is based mainly on the execution of wave algorithms. The swarm is viewed as a distributed system, wherein the communication is achieved by message passing among robot's neighborhood. Message propagation delimits the start and end of each subtask. Simulations are performed to demonstrate that controlled navigation of robot swarms/clusters is achieved with three subtasks, which are recruitment, alignment and movement. The performance of the proposed strategy regarding the time spent in the two first subtasks is analyzed. Furthermore, the simulations of the navigation in different environments including obstacles are presented and discussed. |
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| Keywords: | Swarm robotics Wave algorithms Collective navigation Subtask sequentialization |
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