Exploring the Split and Join Capabilities of a Robotic Collective Movement Framework

Abstract The splitting and joining capabilities of a previously designed framework for the collective movement of mobile robots are studied. This framework is implemented in a distributed manner among the robots and allows scalability with increasing number of robots. It is expandable with new funct...

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Bibliographic Details
Published inInternational journal of advanced robotic systems Vol. 10; no. 5
Main Author Navarro, Iñaki
Format Journal Article
LanguageEnglish
Published London, England SAGE Publications 01.05.2013
Sage Publications Ltd
SAGE Publishing
Subjects
Algorithms
Experiments
Leadership
Modules
Robots
Simulation
Splitting
Velocity
Joining
Collective Movement
Flocking
Split
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Summary:Abstract The splitting and joining capabilities of a previously designed framework for the collective movement of mobile robots are studied. This framework is implemented in a distributed manner among the robots and allows scalability with increasing number of robots. It is expandable with new functionalities through the inclusion of new modules. Splitting functionality is created by including a new module, while joining does not need new structures. A total of 130 systematic experiments, grouped in six different sets, were undertaken to test the splitting and joining functions of the framework, yielding results in which robots behaved as expected. Four of the sets correspond to experiments in simulation using up to 40 robots. The remaining sets use eight real robots.
ISSN:1729-8806
1729-8814
DOI:10.5772/55390