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Traffic control for a swarm of robots: avoiding group conflicts

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Published
Publication date2009
Host publicationProceedings of the 2009 IEEE International Conference on Intelligent Robots and Systems (IROS 2009)
Place of PublicationSt. Louis, MO
PublisherIEEE
Pages1949-1954
Number of pages6
ISBN (electronic)9781424438044
ISBN (print)9781424438307
<mark>Original language</mark>English

Publication series

NameIntelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
PublisherIEEE
ISSN (Print)2153-0858
ISSN (electronic)2153-0866

Abstract

A very common problem in the navigation of robotic swarms is when groups of robots move into opposite directions, causing congestion situations that may compromise performance. In this paper, we propose a distributed coordination algorithm to alleviate this type of congestion. By working collaboratively, and warning their teammates about a congestion risk, robots are able to coordinate themselves to avoid these situations. We executed simulations and real experiments to study the performance and effectiveness of the proposed algorithm. Results show that the algorithm allows the swarm to navigate in a smoother and more efficient fashion, and is suitable for large groups of robots.