Abstract
Swarm robotics aims to achieve physical flexibility, overall system robustness, and enhanced reliability and efficiency by employing a group of autonomous robots for collective task performance. Achieving collective performance by individual robots with limited sensing, processing, and communication capabilities, however, faces several technical challenges, such as difficulties in establishing reliable communication and decentralized control among the robots. This paper presents the following wireless communication algorithms that can be applied to homogeneous swarm robots: (1) infrared-based short-distance communication between the adjacent robots using a self-synchronization technique; and (2) long-distance communication and localization based on distance measurement using radio signals. In addition, two decentralized global shape formation algorithms for homogeneous swarm robots are presented for simulating dispersion and line formation collectively achieved by homogeneous swarm robots.
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Jeong, D., Lee, K. (2016). Distributed Communication and Localization Algorithms for Homogeneous Robotic Swarm. In: Chong, NY., Cho, YJ. (eds) Distributed Autonomous Robotic Systems. Springer Tracts in Advanced Robotics, vol 112 . Springer, Tokyo. https://doi.org/10.1007/978-4-431-55879-8_28
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DOI: https://doi.org/10.1007/978-4-431-55879-8_28
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