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    Rights statement: The final publication is available at Springer via http://dx.doi.org/10.1007/s10514-016-9577-x

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Avoiding target congestion on the navigation of robotic swarms

Research output: Contribution to Journal/Magazine › Journal article › peer-review

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Avoiding target congestion on the navigation of robotic swarms. / Soriano Marcolino, Leandro; Tavares Dos Passos, Yuri; de Souza, Álvaro Antônio Fonseca et al.
In: Autonomous Robots, Vol. 41, No. 6, 08.2017, p. 1297-1320.

Research output: Contribution to Journal/Magazine › Journal article › peer-review

Harvard

Soriano Marcolino, L, Tavares Dos Passos, Y, de Souza, ÁAF, Rodrigues, ADS & Chaimowicz, L 2017, 'Avoiding target congestion on the navigation of robotic swarms', Autonomous Robots, vol. 41, no. 6, pp. 1297-1320. https://doi.org/10.1007/s10514-016-9577-x

APA

Soriano Marcolino, L., Tavares Dos Passos, Y., de Souza, Á. A. F., Rodrigues, A. D. S., & Chaimowicz, L. (2017). Avoiding target congestion on the navigation of robotic swarms. Autonomous Robots, 41(6), 1297-1320. https://doi.org/10.1007/s10514-016-9577-x

Vancouver

Soriano Marcolino L, Tavares Dos Passos Y, de Souza ÁAF, Rodrigues ADS, Chaimowicz L. Avoiding target congestion on the navigation of robotic swarms. Autonomous Robots. 2017 Aug;41(6):1297-1320. Epub 2016 Jun 10. doi: 10.1007/s10514-016-9577-x

Author

Soriano Marcolino, Leandro ; Tavares Dos Passos, Yuri ; de Souza, Álvaro Antônio Fonseca et al. / Avoiding target congestion on the navigation of robotic swarms. In: Autonomous Robots. 2017 ; Vol. 41, No. 6. pp. 1297-1320.

Bibtex

@article{590d050cbf8a49f793808197a3cbfe56,
title = "Avoiding target congestion on the navigation of robotic swarms",
abstract = "Robotic swarms are decentralized systems formed by a large number of robots. A common problem encountered in a swarm is congestion, as a great number of robots often must move towards the same region. This happens when robots have a common target, for example during foraging or waypoint navigation. We propose three algorithms to alleviate congestion: in the first, some robots stop moving towards the target for a random number of iterations; in the second, we divide the scenario in two regions: one for the robots that are moving towards the target, and another for the robots that are leaving the target; in the third, we combine the two previous algorithms. We evaluate our algorithms in simulation, where we show that all of them effectively improve navigation. Moreover, we perform an experimental analysis in the real world with ten robots, and show that all our approaches improve navigation with statistical significance.",
keywords = "Robotic swarms, Traffic control, Navigation, Distributed coordination",
author = "{Soriano Marcolino}, Leandro and {Tavares Dos Passos}, Yuri and {de Souza}, {{\'A}lvaro Ant{\^o}nio Fonseca} and Rodrigues, {Andersoney dos Santos} and Luiz Chaimowicz",
note = "The final publication is available at Springer via http://dx.doi.org/10.1007/s10514-016-9577-x",
year = "2017",
month = aug,
doi = "10.1007/s10514-016-9577-x",
language = "English",
volume = "41",
pages = "1297--1320",
journal = "Autonomous Robots",
issn = "0929-5593",
publisher = "Springer Netherlands",
number = "6",

}

RIS

TY - JOUR

T1 - Avoiding target congestion on the navigation of robotic swarms

AU - Soriano Marcolino, Leandro

AU - Tavares Dos Passos, Yuri

AU - de Souza, Álvaro Antônio Fonseca

AU - Rodrigues, Andersoney dos Santos

AU - Chaimowicz, Luiz

N1 - The final publication is available at Springer via http://dx.doi.org/10.1007/s10514-016-9577-x

PY - 2017/8

Y1 - 2017/8

N2 - Robotic swarms are decentralized systems formed by a large number of robots. A common problem encountered in a swarm is congestion, as a great number of robots often must move towards the same region. This happens when robots have a common target, for example during foraging or waypoint navigation. We propose three algorithms to alleviate congestion: in the first, some robots stop moving towards the target for a random number of iterations; in the second, we divide the scenario in two regions: one for the robots that are moving towards the target, and another for the robots that are leaving the target; in the third, we combine the two previous algorithms. We evaluate our algorithms in simulation, where we show that all of them effectively improve navigation. Moreover, we perform an experimental analysis in the real world with ten robots, and show that all our approaches improve navigation with statistical significance.

AB - Robotic swarms are decentralized systems formed by a large number of robots. A common problem encountered in a swarm is congestion, as a great number of robots often must move towards the same region. This happens when robots have a common target, for example during foraging or waypoint navigation. We propose three algorithms to alleviate congestion: in the first, some robots stop moving towards the target for a random number of iterations; in the second, we divide the scenario in two regions: one for the robots that are moving towards the target, and another for the robots that are leaving the target; in the third, we combine the two previous algorithms. We evaluate our algorithms in simulation, where we show that all of them effectively improve navigation. Moreover, we perform an experimental analysis in the real world with ten robots, and show that all our approaches improve navigation with statistical significance.

KW - Robotic swarms

KW - Traffic control

KW - Navigation

KW - Distributed coordination

U2 - 10.1007/s10514-016-9577-x

DO - 10.1007/s10514-016-9577-x

M3 - Journal article

VL - 41

SP - 1297

EP - 1320

JO - Autonomous Robots

JF - Autonomous Robots

SN - 0929-5593

IS - 6

ER -