Making Swarming Manageable

A distributed communication and control architecture supporting autonomous cooperation between agents (swarming) creates valuable group behaviors for large numbers of robotic vehicles. Scalable, open communication within a multitude of vehicles is the essential enabler for implementing swarming. Rap...

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Bibliographic Details
Published in2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV) pp. 1 - 5
Main Authors MacCready, Tyler, Shapiro, Joy
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2018
Subjects
Oceans
Robot kinematics
Robot sensing systems
Sensor arrays
Service robots
swarm communication
swarm robotics
swarming
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Summary:A distributed communication and control architecture supporting autonomous cooperation between agents (swarming) creates valuable group behaviors for large numbers of robotic vehicles. Scalable, open communication within a multitude of vehicles is the essential enabler for implementing swarming. Rapidly repeated, short-range broadcasts of small information packets that include each vehicle's local information, as well as a relayed message carrying group information, is sufficient to operate swarm algorithms distributed on each vehicle that result in coherent behavior by the whole group. The self-organization of such algorithms, where vehicles autonomously manage among themselves at the individual level, simplifies the management of the inherently complex multi-vehicle system and enables adaptable swarm operations even where much of the swarm is beyond direct contact with an operator.
ISSN:2377-6536
DOI:10.1109/AUV.2018.8729820