Distributed Spatial Awareness for Robot Swarms
Robotics
2024-11-12 v1
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.
Cite
@article{arxiv.2411.07056,
title = {Distributed Spatial Awareness for Robot Swarms},
author = {Simon Jones and Sabine Hauert},
journal= {arXiv preprint arXiv:2411.07056},
year = {2024}
}
Comments
17 pages, 7 figures. Presented at DARS 2024, accepted for publication in the Proceedings of DARS 2024, Springer SPAR series