Deployment Environment for a Swarm of Heterogeneous Robots
The objective of this work is to develop a framework that can deploy and provide coordination between multiple heterogeneous agents when a swarm robotic system adopts a decentralized approach; each robot evaluates its relative rank among the other robots in terms of travel distance and cost to the g...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2016-10-01
|
| Series: | Robotics |
| Subjects: | |
| Online Access: | http://www.mdpi.com/2218-6581/5/4/22 |
| _version_ | 1818037130288431104 |
|---|---|
| author | Tamer Abukhalil Madhav Patil Sarosh Patel Tarek Sobh |
| author_facet | Tamer Abukhalil Madhav Patil Sarosh Patel Tarek Sobh |
| author_sort | Tamer Abukhalil |
| collection | DOAJ |
| description | The objective of this work is to develop a framework that can deploy and provide coordination between multiple heterogeneous agents when a swarm robotic system adopts a decentralized approach; each robot evaluates its relative rank among the other robots in terms of travel distance and cost to the goal. Accordingly, robots are allocated to the sub-tasks for which they have the highest rank (utility). This paper provides an analysis of existing swarm control environments and proposes a software environment that facilitates a rapid deployment of multiple robotic agents. The framework (UBSwarm) exploits our utility-based task allocation algorithm. UBSwarm configures these robots and assigns the group of robots a particular task from a set of available tasks. Two major tasks have been introduced that show the performance of a robotic group. This robotic group is composed of heterogeneous agents. In the results, a premature example that has prior knowledge about the experiment shows whether or not the robots are able to accomplish the task. |
| first_indexed | 2024-12-10T07:21:57Z |
| format | Article |
| id | doaj.art-d9dcfc600d0c4c01aed82aa75566eee6 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-12-10T07:21:57Z |
| publishDate | 2016-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-d9dcfc600d0c4c01aed82aa75566eee62022-12-22T01:57:47ZengMDPI AGRobotics2218-65812016-10-01542210.3390/robotics5040022robotics5040022Deployment Environment for a Swarm of Heterogeneous RobotsTamer Abukhalil0Madhav Patil1Sarosh Patel2Tarek Sobh3Interdisciplinary Robotics, Intelligent Sensing and Control (RISC) Laboratory, School of Engineering, University of Bridgeport, Bridgeport, CT 06604, USAInterdisciplinary Robotics, Intelligent Sensing and Control (RISC) Laboratory, School of Engineering, University of Bridgeport, Bridgeport, CT 06604, USAInterdisciplinary Robotics, Intelligent Sensing and Control (RISC) Laboratory, School of Engineering, University of Bridgeport, Bridgeport, CT 06604, USAInterdisciplinary Robotics, Intelligent Sensing and Control (RISC) Laboratory, School of Engineering, University of Bridgeport, Bridgeport, CT 06604, USAThe objective of this work is to develop a framework that can deploy and provide coordination between multiple heterogeneous agents when a swarm robotic system adopts a decentralized approach; each robot evaluates its relative rank among the other robots in terms of travel distance and cost to the goal. Accordingly, robots are allocated to the sub-tasks for which they have the highest rank (utility). This paper provides an analysis of existing swarm control environments and proposes a software environment that facilitates a rapid deployment of multiple robotic agents. The framework (UBSwarm) exploits our utility-based task allocation algorithm. UBSwarm configures these robots and assigns the group of robots a particular task from a set of available tasks. Two major tasks have been introduced that show the performance of a robotic group. This robotic group is composed of heterogeneous agents. In the results, a premature example that has prior knowledge about the experiment shows whether or not the robots are able to accomplish the task.http://www.mdpi.com/2218-6581/5/4/22heterogeneous swarm agentsreconfigurable robotic agentsdynamic robotic coordinationrobotics interactive softwarerobots deployment environment |
| spellingShingle | Tamer Abukhalil Madhav Patil Sarosh Patel Tarek Sobh Deployment Environment for a Swarm of Heterogeneous Robots Robotics heterogeneous swarm agents reconfigurable robotic agents dynamic robotic coordination robotics interactive software robots deployment environment |
| title | Deployment Environment for a Swarm of Heterogeneous Robots |
| title_full | Deployment Environment for a Swarm of Heterogeneous Robots |
| title_fullStr | Deployment Environment for a Swarm of Heterogeneous Robots |
| title_full_unstemmed | Deployment Environment for a Swarm of Heterogeneous Robots |
| title_short | Deployment Environment for a Swarm of Heterogeneous Robots |
| title_sort | deployment environment for a swarm of heterogeneous robots |
| topic | heterogeneous swarm agents reconfigurable robotic agents dynamic robotic coordination robotics interactive software robots deployment environment |
| url | http://www.mdpi.com/2218-6581/5/4/22 |
| work_keys_str_mv | AT tamerabukhalil deploymentenvironmentforaswarmofheterogeneousrobots AT madhavpatil deploymentenvironmentforaswarmofheterogeneousrobots AT saroshpatel deploymentenvironmentforaswarmofheterogeneousrobots AT tareksobh deploymentenvironmentforaswarmofheterogeneousrobots |