Abstract
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.
Highlights
Cooperative multi-agent robotic systems have been shown to be fault-tolerant in that a robot can take over the task of a failing one
It has been proven that a single robot with multiple capabilities cannot necessarily complete an intended job using the same time and cost as multiple robotic agents
The system will be implemented as a GUI interface to reduce efforts in controlling swarm robotic systems
Summary
Cooperative multi-agent robotic systems have been shown to be fault-tolerant in that a robot can take over the task of a failing one. It has been proven that a single robot with multiple capabilities cannot necessarily complete an intended job using the same time and cost as multiple robotic agents. The desired tasks may be too complex for one single robot, whereas they can be effectively done by multiple robots [1,2,3]. Modular robotic systems have been shown to be robust and flexible in the tasks of localization and surveillance [4,5], and reconnaissance [6]. Such properties are likely to become increasingly important in real-world robotics applications
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