Paper Info
Title
Intra-swarm migration of size-variable robotic modules utilizing the Brazil nut effect
Abstract
In this work, we apply physical granular segregation phenomena to the problem of intra-swarm module migration in a robotic swarm. These segregation phenomena allow for complex relative motion between interacting particles on the basis of differing physical properties. In particular, theBrazil nut effectis one such phenomenon that causes segregation of particles based on relative size difference. We simulated size-variable modules in order to take advantage of this effect and induce intra-swarm module migration. Intra-swarm module migration refers to the movement of the modules within the confines of the swarm, relative to each other, as well as the swarm container. We introduced two methods to produce different kinds of module movement. The first of these, called theflashlightmethod, induced movement of an individual module relative to its neighbours. The second, called thezonemethod, induced an orientation-aligned global module motion within the swarm. In this work, we evaluate the effects of different parameters on the nature of the movements induced by these methods.
Year
DOI
Venue
2020
10.1080/01691864.2020.1789503
ADVANCED ROBOTICS
Keywords
DocType
Volume
Swarm robotics,size-variable modules,Brazil nut effect,granular segregation
Journal
34.0
Issue
ISSN
Citations 
SP17
0169-1864
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Devwrat Omkar Joshi100.34
Masahiro Shimizu26616.47
Koh Hosoda302.70