Dynamic redistribution of a swarm of robots among multiple sites

Ádám Halász, M. Ani Hsieh, Spring Berman, Vijay Kumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

32 Citations (Scopus)

Abstract

We present an approach for the dynamic assignment and reassignment of a large team of homogeneous robotic agents to multiple locations with applications to search and rescue, reconnaissance and exploration missions. Our work is inspired by experimental studies of ant house hunting and empirical models that predict the behavior of the colony that is faced with a choice between multiple candidate nests. We design stochastic control policies that enable the team of agents to distribute themselves between multiple candidate sites in a specified ratio. Additionally, we present an extension to our model to enable fast convergence via switching behaviors based on quorum sensing. The stability and convergence properties of these control policies are analyzed and simulation results are presented.

Original languageEnglish (US)
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages2320-2325
Number of pages6
DOIs
StatePublished - 2007
Externally publishedYes
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: Oct 29 2007Nov 2 2007

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period10/29/0711/2/07

Fingerprint

Robots
Robotics

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Halász, Á., Hsieh, M. A., Berman, S., & Kumar, V. (2007). Dynamic redistribution of a swarm of robots among multiple sites. In IEEE International Conference on Intelligent Robots and Systems (pp. 2320-2325). [4399528] https://doi.org/10.1109/IROS.2007.4399528

Dynamic redistribution of a swarm of robots among multiple sites. / Halász, Ádám; Hsieh, M. Ani; Berman, Spring; Kumar, Vijay.

IEEE International Conference on Intelligent Robots and Systems. 2007. p. 2320-2325 4399528.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Halász, Á, Hsieh, MA, Berman, S & Kumar, V 2007, Dynamic redistribution of a swarm of robots among multiple sites. in IEEE International Conference on Intelligent Robots and Systems., 4399528, pp. 2320-2325, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, San Diego, CA, United States, 10/29/07. https://doi.org/10.1109/IROS.2007.4399528
Halász Á, Hsieh MA, Berman S, Kumar V. Dynamic redistribution of a swarm of robots among multiple sites. In IEEE International Conference on Intelligent Robots and Systems. 2007. p. 2320-2325. 4399528 https://doi.org/10.1109/IROS.2007.4399528
Halász, Ádám ; Hsieh, M. Ani ; Berman, Spring ; Kumar, Vijay. / Dynamic redistribution of a swarm of robots among multiple sites. IEEE International Conference on Intelligent Robots and Systems. 2007. pp. 2320-2325
@inproceedings{9333a1933a4b4f2ab3a80d22fe5222b4,
title = "Dynamic redistribution of a swarm of robots among multiple sites",
abstract = "We present an approach for the dynamic assignment and reassignment of a large team of homogeneous robotic agents to multiple locations with applications to search and rescue, reconnaissance and exploration missions. Our work is inspired by experimental studies of ant house hunting and empirical models that predict the behavior of the colony that is faced with a choice between multiple candidate nests. We design stochastic control policies that enable the team of agents to distribute themselves between multiple candidate sites in a specified ratio. Additionally, we present an extension to our model to enable fast convergence via switching behaviors based on quorum sensing. The stability and convergence properties of these control policies are analyzed and simulation results are presented.",
author = "{\'A}d{\'a}m Hal{\'a}sz and Hsieh, {M. Ani} and Spring Berman and Vijay Kumar",
year = "2007",
doi = "10.1109/IROS.2007.4399528",
language = "English (US)",
isbn = "1424409128",
pages = "2320--2325",
booktitle = "IEEE International Conference on Intelligent Robots and Systems",

}

TY - GEN

T1 - Dynamic redistribution of a swarm of robots among multiple sites

AU - Halász, Ádám

AU - Hsieh, M. Ani

AU - Berman, Spring

AU - Kumar, Vijay

PY - 2007

Y1 - 2007

N2 - We present an approach for the dynamic assignment and reassignment of a large team of homogeneous robotic agents to multiple locations with applications to search and rescue, reconnaissance and exploration missions. Our work is inspired by experimental studies of ant house hunting and empirical models that predict the behavior of the colony that is faced with a choice between multiple candidate nests. We design stochastic control policies that enable the team of agents to distribute themselves between multiple candidate sites in a specified ratio. Additionally, we present an extension to our model to enable fast convergence via switching behaviors based on quorum sensing. The stability and convergence properties of these control policies are analyzed and simulation results are presented.

AB - We present an approach for the dynamic assignment and reassignment of a large team of homogeneous robotic agents to multiple locations with applications to search and rescue, reconnaissance and exploration missions. Our work is inspired by experimental studies of ant house hunting and empirical models that predict the behavior of the colony that is faced with a choice between multiple candidate nests. We design stochastic control policies that enable the team of agents to distribute themselves between multiple candidate sites in a specified ratio. Additionally, we present an extension to our model to enable fast convergence via switching behaviors based on quorum sensing. The stability and convergence properties of these control policies are analyzed and simulation results are presented.

UR - http://www.scopus.com/inward/record.url?scp=51349168582&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=51349168582&partnerID=8YFLogxK

U2 - 10.1109/IROS.2007.4399528

DO - 10.1109/IROS.2007.4399528

M3 - Conference contribution

AN - SCOPUS:51349168582

SN - 1424409128

SN - 9781424409129

SP - 2320

EP - 2325

BT - IEEE International Conference on Intelligent Robots and Systems

ER -