Name
Abstract | ||
|---|---|---|
Swarm robotic systems can offer advantages of robustness, flexibility and scalability, just like social insects. One assumption that is made by the majority of swarm robotic researchers, particularly in software simulation, is that a robotic swarm is a group of identical robots, there is no difference between any two of them. However, differences among hardware robots are unavoidable. These hardware differences, albeit small, affect the robots response to its environment. In this work, robots with hardware variation have been modeled and simulated in a line following scenario. It is found that even small hardware variations can result in behavioral heterogeneity. Although the variations can be compensated by the controllers in training, the hardware variation and resulting differences in controller settings are amplified in the non-linear interaction between robot and environment. Accordingly, the behavior of the identically trained robots in the same environment are subject to divergence. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/SMC.2013.694 | SMC |
Keywords | Field | DocType |
hardware variation,behavioral heterogeneity,swarm robotic system,hardware robot,line following scenario,swarm robots,hardware difference,robots response,robot control,small hardware variation,mobile robots,multi-robot systems,nonlinear interaction,robotic swarm,hardware variations,hardware variations simulation,controller setting,swarm robotics,swarm robotic researcher | Robot control,Robotic sensing,AISoy1,Swarm behaviour,Simulation,Computer science,Ant robotics,Robot locomotion,Self-reconfiguring modular robot,Computer hardware,Swarm robotics | Conference |
ISSN | Citations | PageRank |
1062-922X | 1 | 0.41 |
References | Authors | |
3 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Beining Shang | 1 | 1 | 0.41 |
| Richard Crowder | 2 | 113 | 12.73 |
| Klaus-Peter Zauner | 3 | 240 | 38.97 |