DocumentCode :
3021802
Title :
Blinkered LOST: Restricting sensor field of view can improve scalability in emergent multi-robot trail following
Author :
Sadat, Seyed Abbas ; Vaughan, Richard T.
fYear :
2010
fDate :
3-7 May 2010
Firstpage :
947
Lastpage :
952
Abstract :
We consider the classical task of transporting resources from source to home by a group of autonomous robots. The robots use ant-like trail following to navigate between home and source. This paper studies the effect on global performance of changing the field of view of each robot´s trail-following sensor. It is shown that, under certain conditions, a narrow field of view can improve system performance. We argue that the benefit is obtained by selectively degrading the individuals´ trail-following ability so that more work space is exploited in parallel, thus decreasing mutual spatial interference. This “worse-is-better” idea may be applicable to other large-scale multi-robot systems.
Keywords :
large-scale systems; mobile robots; multi-robot systems; path planning; robot vision; ant-like trail following; autonomous robot; multirobot trail; mutual spatial interference; robot navigation; sensor view field; Chemical sensors; Interference; Navigation; Orbital robotics; Robot sensing systems; Robotics and automation; Scalability; System performance; Transportation; USA Councils;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
ISSN :
1050-4729
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2010.5509639
Filename :
5509639
Link To Document :
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