Establishing spatially targeted communication in a heterogeneous robot swarm

N. Mathews, A. L. Christensen, E. Ferrante, R. O'Grady, M. Dorigo

Research output: Chapter in Book / Report / Conference proceedingConference contributionAcademicpeer-review

Abstract

We consider a heterogeneous swarm consisting of aerial and wheeled robots. We present a system that enables spatially targeted communication. Our system enables aerial robots to establish dedicated communication links with individual wheeled robots or with selected groups of wheeled robots based on their position in the environment. The system does not rely on any form of global information. We show how a spatially targeted one-to-one communication link can be established using a simple LED and camera based communication modality. We provide a probabilistic model of our approach to derive an upper bound on the average time required for establishing communication. In simulation, we show that our approach scales well. Furthermore, we show how our approach can be extended to establish a spatially targeted one-to-many communication link between an aerial robot and a specific number of co-located wheeled robots. The heterogeneous swarm robotic hardware is currently under development. We therefore demonstrate the proposed approach on an existing multirobot system consisting of only wheeled robots by letting one of the wheeled robots assume the role of an aerial robot.

Original languageEnglish
Title of host publication9th International Joint Conference on Autonomous Agents and Multiagent Systems 2010, AAMAS 2010
PublisherInternational Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS)
Pages939-946
Number of pages8
ISBN (Print)9781617387715
Publication statusPublished - 1 Jan 2010
Externally publishedYes
Event9th International Joint Conference on Autonomous Agents and Multiagent Systems 2010, AAMAS 2010 - Toronto, ON, Canada
Duration: 10 May 2010 → …

Publication series

NameProceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS
Volume2
ISSN (Print)1548-8403
ISSN (Electronic)1558-2914

Conference

Conference9th International Joint Conference on Autonomous Agents and Multiagent Systems 2010, AAMAS 2010
CountryCanada
CityToronto, ON
Period10/05/10 → …

Keywords

  • Communication protocol
  • Heterogeneous swarms
  • Situated communication
  • Swarm robotics

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