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E. Ferrante. A Control Architecture for a Heterogeneous Swarm of Robots: The Design of a Modular Behavior-based Architecture. Technical Report TR/IRIDIA/2009-010, IRIDIA, Université Libre de Bruxelles, Brussels, Belgium, May 2009.

Abstract

We propose a software architecture that can ease and speed up the development process of controllers for heterogeneous swarm systems. It is inherently modular and allows behaviors to be combined in layers and reused in multiple controllers. This can potentially speedup the development process of controllers since they become much more readable and well structured. We validated the architecture through an experiment of collective navigation and obstacle avoidance using two different types of robots. The experiments show that, using the proposed architecture, complex behaviors can indeed be built through the combination of very simple behaviors.


Updated: 2017-03-27