Recruitment Near Worksites Facilitates Robustness of Foraging E-Puck Swarms to Global Positioning Noise

Lenka Pitonakova, Alan Winfield, Richard Crowder

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

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Abstract

We compare the ability of two different robot controllers for collective foraging to cope with noise in robot global positioning data and show how recruitment, in the form of broadcast messages near worksites, can make swarms more robust. Swarms of five e-puck robots are used in a semi-virtual environment, facilitated by the VICON positioning system. This setup allows us to control the amount of noise in the robot positioning data, as well as to generate pseudo-random environments. The effect of inherent noise in the robot infra-red sensors, used for obstacle avoidance, is also noted and the importance of modeling such noise in agent-based simulations is highlighted.
Original languageEnglish
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
Subtitle of host publicationProceedings of a meeting held 1-5 October 2018, Madrid, Spain
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages4276-4281
Number of pages6
ISBN (Electronic)9781538680940
ISBN (Print)9781538680933
DOIs
Publication statusPublished - Mar 2019

Publication series

Name
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

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