CoDE Publications CoDE Publications
IRIDIA Publications IRIDIA Publications
SMG Publications
WIT Publications
WIT Publications
SMG Publications
Home People Research Activities Publications Teaching Resources
By Class By Topic By Year Technical Reports
By Class By Topic By Year Technical Reports
login
R. O'Grady, R. Groß, A. Christensen, F. Mondada, M. Bonani, and M. Dorigo. Swarm-bots to the Rescue. Technical Report TR/IRIDIA/2009-011, IRIDIA, Université Libre de Bruxelles, May 2009.

Abstract

We explore the problem of resource allocation in a system made up of autonomous agents that can either carry out tasks individually or, when necessary, cooperate by forming physical connections with each other. We consider a group transport scenario that involves transporting broken robots to a repair zone. Some broken robots can be transported by an individual ‘rescue' robot, whereas other broken robots are heavier and therefore require the rescue robots to self-assemble into a larger and stronger composite entity. We present a distributed controller that solves this task while efficiently allocating resources. We conduct a series of real-world experiments to show that our system can i) transport separate broken robots in parallel, ii) trigger self-assembly into composite entities when necessary to overcome the physical limitations of individual agents, iii) efficiently allocate resources and iv) resolve deadlock situations.


Updated: 2017-03-27