PheroCom: Decentralised and asynchronous swarm robotics coordination
based on virtual pheromone and vibroacoustic communication
- URL: http://arxiv.org/abs/2202.13456v1
- Date: Sun, 27 Feb 2022 21:22:14 GMT
- Title: PheroCom: Decentralised and asynchronous swarm robotics coordination
based on virtual pheromone and vibroacoustic communication
- Authors: Claudiney R. Tinoco, Gina M. B. Oliveira (Federal University of
Uberl\^andia, Uberl\^andia/MG, Brazil)
- Abstract summary: This work proposes a model to coordinate swarms of robots based on the virtualisation and control of stigmergic substances.
Each robot maintains an independent virtual pheromone map, which is continuously updated with the robot's deposits and pheromone evaporation.
Pheromone information propagation is inspired by ants' vibroacoustic communication, which, in turn, is characterised as an indirect communication through a type of gossip protocol.
- Score: 0.0
- License: http://creativecommons.org/licenses/by-nc-sa/4.0/
- Abstract: Representation and control of the dynamics of stigmergic substances used by
bio-inspired approaches is a challenge when applied to robotics. In order to
overcome this challenge, this work proposes a model to coordinate swarms of
robots based on the virtualisation and control of these substances in a local
scope. The model presents a new pheromone modelling, which enables the
decentralisation and asynchronicity of navigation decisions. Each robot
maintains an independent virtual pheromone map, which is continuously updated
with the robot's deposits and pheromone evaporation. Moreover, the individual
pheromone map is also updated by aggregating information from other robots that
are exploring nearby areas. Thus, individual and independent maps replace the
need of a centralising agent that controls and distributes the pheromone
information, which is not always practicable. Pheromone information propagation
is inspired by ants' vibroacoustic communication, which, in turn, is
characterised as an indirect communication through a type of gossip protocol.
The proposed model was evaluated through an agent simulation software,
implemented by the authors, and in the Webots platform. Experiments were
carried out to validate the model in different environments, with different
shapes and sizes, as well as varying the number of robots. The analysis of the
results has shown that the model was able to perform the coordination of the
swarm, and the robots have exhibited an expressive performance executing the
surveillance task.
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