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Decentralized underwater multi-robot communication using bio-inspired approaches

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Abstract

Interference and jamming become crucial issues in swarm robot communication and sensing, especially in underwater applications. In this paper, an algorithm for facilitating scheduling within robotic swarm is formulated and its investigation in a series of experiments is described. The scheduling algorithm is biologically inspired by the firefly and frog. Novel distributed models for both algorithms are also investigated to improve scalability and provide decentralization of the algorithms. It is proven from the simulated experiments that the model is robust and viable for scheduling underwater swarm communication and sensing. Moreover, the paper illustrates that global swarm cognition can also be achieved using the algorithm to estimate the swarm density in a decentralized way. Finally, a real robot experiment using underwater swarm robot platforms is also presented.

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Acknowledgments

This work is supported by EU Projects CoCoRo (Collective and Cognitive Robotic, the Grant agreement No. 270382). Additionally, we want to thank all members of the projects for fruitful discussions.

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Authors and Affiliations

  1. Institute of Parallel and Distributed System, University of Stuttgart, Stuttgart, Germany

    Donny Sutantyo & Paul Levi

Authors
  1. Donny Sutantyo
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  2. Paul Levi
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Corresponding author

Correspondence to Donny Sutantyo.

Additional information

This work was presented in part at the 19th International Symposium on Artificial Life and Robotics, Beppu, Oita, January 22–24, 2014.

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Sutantyo, D., Levi, P. Decentralized underwater multi-robot communication using bio-inspired approaches. Artif Life Robotics 20, 152–158 (2015). https://doi.org/10.1007/s10015-015-0201-5

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  • DOI: https://doi.org/10.1007/s10015-015-0201-5

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