TY - GEN
T1 - Using Hardware Specialization and Hierarchy to Simplify Robotic Swarms
AU - Espinosa, German
AU - Rubenstein, Michael
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/9/10
Y1 - 2018/9/10
N2 - Specialization has always been a tool for work distribution and simplification in nature and in distributed robotics. We present a novel approach to use hardware specialization hierarchically to enhance the capabilities of a swarm without increasing complexity, allowing a numerous group of robots to benefit from the extended features of a few to complete a task that was impossible for them before. We tested the concept under a simulated environment with a classical distributed robotics problem, shape formation, and validated the simulated results against a real experiment.
AB - Specialization has always been a tool for work distribution and simplification in nature and in distributed robotics. We present a novel approach to use hardware specialization hierarchically to enhance the capabilities of a swarm without increasing complexity, allowing a numerous group of robots to benefit from the extended features of a few to complete a task that was impossible for them before. We tested the concept under a simulated environment with a classical distributed robotics problem, shape formation, and validated the simulated results against a real experiment.
UR - http://www.scopus.com/inward/record.url?scp=85054715155&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85054715155&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2018.8463206
DO - 10.1109/ICRA.2018.8463206
M3 - Conference contribution
AN - SCOPUS:85054715155
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 7667
EP - 7673
BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Y2 - 21 May 2018 through 25 May 2018
ER -