Dynamic redistribution of a swarm of robots among multiple sites

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

doi:10.1109/IROS.2007.4399528

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 proceeding › Conference contribution

48 Scopus citations

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 language	English (US)
Title of host publication	Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages	2320-2325
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2007.4399528
State	Published - 2007
Externally published	Yes
Event	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States Duration: Oct 29 2007 → Nov 2 2007

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Other

Other	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Country/Territory	United States
City	San Diego, CA
Period	10/29/07 → 11/2/07

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

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10.1109/IROS.2007.4399528

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Halász, Á., Hsieh, M. A., Berman, S., & Kumar, V. (2007). Dynamic redistribution of a swarm of robots among multiple sites. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 2320-2325). Article 4399528 (IEEE International Conference on Intelligent Robots and Systems). 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 et al.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 2320-2325 4399528 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Halász, Á, Hsieh, MA, Berman, S & Kumar, V 2007, Dynamic redistribution of a swarm of robots among multiple sites. in Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007., 4399528, IEEE International Conference on Intelligent Robots and Systems, 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

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Dynamic redistribution of a swarm of robots among multiple sites

Abstract

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