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Communication Dans Un Congrès Année : 2008

The Robot Swarm Re-localization Problem

Résumé

This paper tackles the problem of re-localization in a swarm of moving virtual robots where some robots might be lost and where the distance between each neighboring robot is known within a limited communication radius (e.g. using the strength of a radio/wifi signal), whereas the precise localization is not known. The basic process in relocalization relies in a robot swarm that re-aggregates based on local information only by recruiting lost robots so as to build a swarm configuration where localization is possible and non-ambiguous. The main issues in relocalization is to provide highly decentralised behaviors for ensuring efficient and fast re-aggregation of the swarm that is scale independent. In this paper, the problem of relocalization is defined as well as criteria for evaluating swarm relocalization efficiency. Moreover, a set of decentralized behaviors based on local reactive behaviors is presented and experimentally studied.
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Dates et versions

inria-00336690 , version 1 (04-11-2008)

Identifiants

  • HAL Id : inria-00336690 , version 1

Citer

Nicolas Bredeche, Yann Chevaleyre. The Robot Swarm Re-localization Problem. 5th IEEE International Conference on Robotics and Biomimetics (ROBIO 2008), 2008, Bangkok, Thailand. ⟨inria-00336690⟩
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