Abstract
This paper presents a decentralized navigation method with a leader robot guiding a robotic swarm and considers the possible occurrence of a failure. Multi-robot systems have attracted attention in part because they can maintain their performance as a swarm even when some robots fail. Such systems are also expected to work well in environments where a disaster has occurred, given that the chance of robot crashes is high in such situations. Therefore, it is important to design a navigation method that considers the possibility of failures so that the surviving robots in a swarm will not be impaired because of failed robots. In this paper, we design connectivity maintenance and a repair method for swarm robots in which each robot utilizes only local information. We then prove that the proposed method ensures the swarm follows the movement of a leader robot and reconstructs connectivity in the case one of the robots fails. Finally, we present experimental and numerical results confirming the effectiveness of the proposed method.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
