Abstract
Building a distributed spatial awareness within a swarm of locally sensing and communicating robots enables new swarm algorithms. We use local observations by robots of each other and Gaussian Belief Propagation message passing combined with continuous swarm movement to build a global and distributed swarm-centric frame of reference. With low bandwidth and computation requirements, this shared reference frame allows new swarm algorithms. We characterise the system in simulation and demonstrate two example algorithms.
| Original language | English |
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| Title of host publication | DARS 2024: 17th International Symposium on Distributed Autonomous Robotic Systems |
| Publisher | Springer, Cham |
| Number of pages | 17 |
| Publication status | Accepted/In press - 1 Jul 2024 |
| Event | The International Symposium on Distributed Autonomous Robotic Systems (DARS) 2024 - Cornell Tech, Roosevelt Island, Manhattan, New York City, United States Duration: 28 Oct 2024 → 30 Oct 2024 https://dars2024.engineering.cornell.edu/ |
Publication series
| Name | Springer Proceedings in Advanced Robotics |
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| Publisher | Springer Cham |
| ISSN (Print) | 2511-1256 |
| ISSN (Electronic) | 2511-1264 |
Conference
| Conference | The International Symposium on Distributed Autonomous Robotic Systems (DARS) 2024 |
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| Abbreviated title | DARS2024 |
| Country/Territory | United States |
| City | New York City |
| Period | 28/10/24 → 30/10/24 |
| Internet address |
Keywords
- Swarm
- Intralogistics
- Shape formation
- Gaussian Belief Propagation