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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Metadaten
Author:Oliver KosakORCiDGND, Felix Bohn, Lennart Eing, Dennis Rall, Constantin WanningerGND, Alwin HoffmannORCiDGND, Wolfgang ReifORCiDGND
Frontdoor URLhttps://opus.bibliothek.uni-augsburg.de/opus4/79103
Parent Title (English):9th International Symposium on Leveraging Applications of Formal Methods, Verification and Validation
Publisher:Springer
Place of publication:Heidelberg
Type:Part of a Book
Language:English
Year of first Publication:2020
Release Date:2020/09/03
Tag:Swarm Behavior; Multi-Agent Systems; Robot Swarms; Multipotent Systems; Collective Adaptive Systems
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
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