Swarm and collective capabilities for multipotent robot ensembles

  • Swarm behavior can be very beneficial for real-world robot applications. While analyzing the current state of research, we identified that many studied swarm algorithms foremost aim at modifying the movement vector of the executing robot. In this paper, we demonstrate how we encapsulate this behavior in a general pattern that robots can execute with adjusted parameters for realizing different beneficial swarm algorithms. We integrate the pattern as a virtual swarm capability in our reference architecture for multipotent, reconfigurable multi-robot ensembles and demonstrate its application in proof of concepts. We further illustrate how we can lift the concept of virtual capabilities to also integrate other known approaches for collective system programming as virtual collective capabilities. As an example, we do so by integrating the execution platform for the Protelis aggregate programming language.

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Author:Oliver KosakORCiDGND, Felix Bohn, Lennart Eing, Dennis Rall, Constantin WanningerORCiDGND, Alwin HoffmannORCiDGND, Wolfgang ReifORCiDGND
Frontdoor URLhttps://opus.bibliothek.uni-augsburg.de/opus4/79103
Parent Title (English):Lecture Notes in Computer Science
Place of publication:Berlin
Year of first Publication:2020
Publishing Institution:Universität Augsburg
Release Date:2020/09/03
Tag:Swarm Behavior; Multi-Agent Systems; Robot Swarms; Multipotent Systems; Collective Adaptive Systems
First Page:525
Last Page:540
Published in: Leveraging Applications of Formal Methods, Verification and Validation: Engineering Principles; 9th International Symposium on Leveraging Applications of Formal Methods, ISoLA 2020, Rhodes, Greece, October 20–30, 2020, Proceedings, Part II
Institutes:Fakultät für Angewandte Informatik
Fakultät für Angewandte Informatik / Institut für Informatik
Fakultät für Angewandte Informatik / Institut für Software & Systems Engineering
Fakultät für Angewandte Informatik / Institut für Informatik / Lehrstuhl für Softwaretechnik
Fakultät für Angewandte Informatik / Institut für Informatik / Lehrstuhl für Softwaretechnik / Lehrstuhl für Softwaretechnik
Dewey Decimal Classification:0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Licence (German):Deutsches Urheberrecht