Modelling a wireless connected swarm of mobile robots

Winfield, A. F., Liu, W., Nembrini, J. and Martinoli, A. (2008) Modelling a wireless connected swarm of mobile robots. Swarm Intelligence, 2 (2-4). pp. 241-266. ISSN 1935-3812 Available from:

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It is a characteristic of swarm robotics that modelling the overall swarm behaviour in terms of the low-level behaviours of individual robots is very difficult. Yet if swarm robotics is to make the transition from the laboratory to real-world engineering realisation such models would be critical for both overall validation of algorithm correctness and detailed parameter optimisation. We seek models with predictive power: models that allow us to determine the effect of modifying parameters in individual robots on the overall swarm behaviour. This paper presents results from a study to apply the probabilistic modelling approach to a class of wireless connected swarms operating in unbounded environments. The paper proposes a probabilistic finite state machine (PFSM) that describes the network connectivity and overall macroscopic behaviour of the swarm, then develops a novel robot-centric approach to the estimation of the state transition probabilities within the PFSM. Using measured data from simulation the paper then carefully validates the PFSM model step by step, allowing us to assess the accuracy and hence the utility of the model.

Item Type:Article
Additional Information:The original publication is available at
Uncontrolled Keywords:swarm robotics, modelling, wireless ad-hoc network
Faculty/Department:Faculty of Environment and Technology > Department of Engineering Design and Mathematics
ID Code:161
Deposited By: Professor A. Winfield
Deposited On:24 Feb 2010 15:13
Last Modified:14 Apr 2016 04:42

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