Dynamic Task Partitioning for Foraging Robot Swarms
Dead reckoning error is a common problem in robotics that can be caused by multiple factors related to sensors or actuators. These errors potentially cause landmarks recorded by a robot to appear in a different location with respect to the actual position of the object. In a foraging scenario with a swarm of robots, this error will ultimately lead to the robots being unable to return successfully to the food source. In order to address this issue, we propose a computationally low-cost finite state machine strategy with which robots divide the total travelling distance into a variable number of segments, thus decreasing accumulated dead-reckoning error. The distance travelled by each robot changes according to the success and failure of exploration. Our approach is more flexible than using a previously used fixed size approach for the travel distance, thus allowing swarms greater flexibility and scaling to larger areas of operation.
KeywordsSwarm robotics Task partitioning Fault tolerance Foraging
EB acknowledges financial support from CONACyT. JT is part sponsored by The Royal Society.
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