Modeling and Optimization of a Swarm-Intelligent Inspection System
We present a simple, behavior-based, distributed control algorithm to inspect a regular structure with a swarm of autonomous, miniature robots, using only on-board, local sensors. To estimate intrinsic advantages and limitations of the proposed control solution, we capture its characteristics at a higher abstraction level using non-spatial probabilistic microscopic and macroscopic models. Both models achieve consistent prediction on the chosen swarm metric and deliver a series of interesting qualitative and quantitative insights on further, counterintuitive, improvement of the distributed control algorithm. Modeling results were validated by experiments with one to twenty robots using a realistic simulator in the framework of a case study concerned with the inspection of a jet turbine.
KeywordsFinite State Machine Microscopic Model Real Robot Team Size Swarm Size
Unable to display preview. Download preview PDF.
- 2.R. Arkin. Behavior-Based Robotics. The MIT press, Cambridge, Massachusetts, 2000.Google Scholar
- 3.N. Correll and A. Martinoli. Collective inspection of regular structures using a swarm of miniature robots. In Proceedings of the 9th International Symposium of Experimental Robotics (ISER). Singapure. Springer Tracts for Autonomous Robotics (STAR). To Appear, 2004.Google Scholar
- 7.O. Michel. Webots: Professional mobile robot simulation. Journal of Advanced Robotic Systems, 1(1):39–42, 2004.Google Scholar