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On the Analysis of a Swarm-Intelligence Coordination Model for Swarm Robots

Authors:
Caio D. D. Monteiro
Diego M. P. F. Silva
Carmelo J. A. Bastos-Filho

Keywords: Unmanned Aerial Vehicles; Swarm Robots; Swarm intelligence; Particle Swarm Optimization; Specific Scenarios

Abstract:
In this paper, we propose three specific scenarios in order to allow one to analyze the performance of swarm-intelligence based coordination models for swarm of robots. The specific scenarios aim to assess some features presented on swarm robots: (i) contraction and expansion; (ii) self-segregation and self-aggregation; and (iii) the capacity to change abruptly the fly direction whenever it is necessary. We also propose a metric to analyze the cohesion (COE) of the swarm during a mission. We analyzed a recently proposed model based on the Particle Swarm Optimization technique designed to coordinate automatically swarms of robots in terms of Collision (CL) rate and COE. We performed simulations varying all the parameters in the three scenarios and we observed that the main problem is related to collisions when the width of the passageway is not much more higher than the UAVs collision radius. The proposed model can assist and support the implementation of a system of swarm robots.

Pages: 103 to 108

Copyright: Copyright (c) IARIA, 2013

Publication date: April 21, 2013

Published in: conference

ISSN: 2308-4065

ISBN: 978-1-61208-269-1

Location: Venice, Italy

Dates: from April 21, 2013 to April 26, 2013