Hierarchical congestion control for robotic swarms

Safe and efficient navigation of robotic swarms is an important research problem. One of the main challenges in this area is to avoid congestion, which usually happens when large groups of robots share the same environment. In this paper, we propose the use of hierarchical abstractions in conjunctio...

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Bibliographic Details
Published in2011 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 4372 - 4377
Main Authors Graciano Santos, Vinicius, Chaimowicz, L.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2011
Subjects
Aerospace electronics
Collision avoidance
Force
Navigation
Robot kinematics
Robot sensing systems
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ISBN1612844545
9781612844541
ISSN2153-0858
DOI10.1109/IROS.2011.6094640

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Summary:Safe and efficient navigation of robotic swarms is an important research problem. One of the main challenges in this area is to avoid congestion, which usually happens when large groups of robots share the same environment. In this paper, we propose the use of hierarchical abstractions in conjunction with simple traffic control rules based on virtual forces to avoid congestion in swarm navigation. We perform simulated and real experiments in order to study the feasibility and effectiveness of the proposed algorithm. Results show that our approach allows the swarm to navigate without congestions in a smooth and coherent fashion, being suitable for large groups of robots.
ISBN:1612844545
9781612844541
ISSN:2153-0858
DOI:10.1109/IROS.2011.6094640