Marsupial teams of robots: deployment of miniature robots for swarm exploration under communication constraints
Marsupial teams of robots: deployment of miniature robots for swarm exploration under communication constraints
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DOI：
10.1017/s0263574713001185
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发表时间：
2014-01
期刊：
影响因子：
2.7
通讯作者：
M. Couceiro;David Portugal;R. Rocha;N. Ferreira
中科院分区：
文献类型：
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作者：
M. Couceiro;David Portugal;R. Rocha;N. Ferreira
摘要移动的Ad hoc网络在过去的几年里引起了人们的广泛关注，因为它们允许属于多机器人系统的代理之间的协调和合作。然而，最初部署自主的无线传感器机器人网络在真实的环境中还没有采取适当的注意。此外，在真实的和复杂的环境中保持代理之间的连接是一项艰巨的任务，因为两个节点之间的连接的强度（即，机器人）可以随着时间迅速变化甚至消失。本文比较了两个自主的和现实的有袋动物的策略，在未知的情况下，在群体探索的背景下，初始部署：随机和扩展螺旋的西奥多。这些都是基于一个分层的方法，其中探索代理，命名为侦察兵，自主部署通过明确的合作与支持代理，表示为护林员。实验结果进行了一组异构机器人使用真实的和虚拟机器人。结果表明，该方法的有效性，使用的性能指标的基础上分散。这项工作得出的结论为一系列可能的新方法铺平了道路。
SUMMARY Mobile Ad hoc Networks have attracted much attention in the last years, since they allow the coordination and cooperation between agents belonging to a multi-robot system. However, initially deploying autonomously a wireless sensor robot network in a real environment has not taken the proper attention. Moreover, maintaining the connectivity between agents in real and complex environments is an arduous task since the strength of the connection between two nodes (i.e., robots) can change rapidly in time or even disappear. This paper compares two autonomous and realistic marsupial strategies for initial deployment in unknown scenarios, in the context of swarm exploration: Random and Extended Spiral of Theodorus. These are based on a hierarchical approach, in which exploring agents, named scouts, are autonomously deployed through explicit cooperation with supporting agents, denoted as rangers. Experimental results with a team of heterogeneous robots are conducted using both real and virtual robots. Results show the effectiveness of the methods, using a performance metric based on dispersion. Conclusions drawn in this work pave the way for a whole series of possible new approaches.