TY - GEN
T1 - SwarmTalk - Towards benchmark software suites for swarm robotics platforms
AU - Zhang, Yihan
AU - Zhang, Lyon
AU - Wang, Hanlin
AU - Bustamante, Fabián E.
AU - Rubenstein, Michael
N1 - Publisher Copyright:
© 2020 International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS). All rights reserved.
PY - 2020
Y1 - 2020
N2 - With nearly every new swarm robotic platform built, the designers develop its software stack, from low-level drivers to high-level algorithmic implementations. And while the different software stacks frequently share components, especially in robot-to-robot communication, these common components are also developed from scratch time and again. We present SwarmTalk, a new communication library that can be quickly ported to new and existing swarm hardware. SwarmTalk adopts a publish-subscribe communication model that satisfies the severe hardware constraints found in many swarms, and provides an easy-to-use programming interface. We port our SwarmTalk prototype to two hardware swarm platforms and two simulator-based platforms, and implement commonly-used swarm algorithms on these four platforms. We present the design and implementation of SwarmTalk, discuss some of the system challenges in implementation and cross-platform porting, and report on our initial experiences as a common communication abstraction for a community benchmarking suite.
AB - With nearly every new swarm robotic platform built, the designers develop its software stack, from low-level drivers to high-level algorithmic implementations. And while the different software stacks frequently share components, especially in robot-to-robot communication, these common components are also developed from scratch time and again. We present SwarmTalk, a new communication library that can be quickly ported to new and existing swarm hardware. SwarmTalk adopts a publish-subscribe communication model that satisfies the severe hardware constraints found in many swarms, and provides an easy-to-use programming interface. We port our SwarmTalk prototype to two hardware swarm platforms and two simulator-based platforms, and implement commonly-used swarm algorithms on these four platforms. We present the design and implementation of SwarmTalk, discuss some of the system challenges in implementation and cross-platform porting, and report on our initial experiences as a common communication abstraction for a community benchmarking suite.
KW - Benchmarks
KW - Communication
KW - Swarm robotics
UR - http://www.scopus.com/inward/record.url?scp=85096492887&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85096492887&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:85096492887
T3 - Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS
SP - 1638
EP - 1646
BT - Proceedings of the 19th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2020
A2 - An, Bo
A2 - El Fallah Seghrouchni, Amal
A2 - Sukthankar, Gita
PB - International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS)
T2 - 19th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2020
Y2 - 19 May 2020
ER -