Swarm behavior control of mobile multi-robots with wireless sensor networks

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DOIResolve DOI: http://doi.org/10.1016/j.jnca.2011.03.023
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TypeArticle
Journal titleJournal of Network and Computer Applications
ISSN1084-8045
Volume34
Issue4
Pages13981407; # of pages: 10
Subjectwireless sensor networks; mobile multi-robots; swarm intelligence; swarm design; behavior control
AbstractA swarm is a “complex adaptive system”, which is decentralized and self-organized and whose individuals are simple, homogeneous and autonomous. Swarm intelligence is defined to describe its emergent behaviors. Both wirelesssensornetworks and mobilemulti-robots demonstrate swarm features. This paper first discusses the challenges of combining wirelesssensornetworks and mobilemulti-robots, and then proposes a layered dual-swarm framework with three communication channels that can inherit traditional swarm technology while building an efficient interaction channel for both swarms to cooperate. In order to improve the system controllability, a new type of numerical entity called “virtual entity” and related control strategies are introduced. Finally, proof-of-concept implementations are presented and illustrated with simulation scenarios and a physical testbed. The experimental results show that the WSN-MMR swarm system can emerge successfully and robustly from swarm intelligence.
Publication date
PublisherElsevier
LanguageEnglish
AffiliationNRC Institute for Research in Construction; National Research Council Canada
Peer reviewedYes
NRC number53980
NPARC number20870262
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Record identifier380a45c4-aa21-4f90-8d31-7d967ae10f05
Record created2012-10-30
Record modified2016-05-09
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