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
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2320
EP - 2325
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -