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Explicit vs. Tacit Leadership in Influencing the Behavior of Swarms

Amraii Amirpour, Saman and Walker, Phillip and Lewis, Michael and Chakraborty, Nilanjan and Sycara, Katia (2014) Explicit vs. Tacit Leadership in Influencing the Behavior of Swarms. In: 2014 IEEE International Conference on Robotics & Automation (ICRA).

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Abstract

Many researchers have employed some form of teleoperated leader to influence a robotic swarm; however, the way in which this influence is conveyed has not been well studied. Some researchers employ designated leaders that are known to be leaders by other members of the swarm and hence followed. Others do not impose a leader/follower distinction on the swarm’s algorithms and instead choose to influence the swarm indirectly through controlling one or more of its members. This paper compares leader-based methods of each type, designated as consensus (no explicit leader/follower distinction) and flooding (influence propagating from leader takes precedence). We compared the two methods for convergence time and properties in noisy and noiseless conditions with static and dynamic graphs. We found that consensus converged much slower than flooding but had slightly better noise tolerance. In the human experiments we compared the ability of operators to maneuver a swarm to goal points using each method, both with and without sensing error. As in simulation, the flooding method was significantly more effective in moving the swarm between goal points. The greater sensitivity of flooding to error found in simulation, however, was not observed in the human experiments. Instead, the error degraded performance equally across the two conditions

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Details

Item Type: Conference or Workshop Item (Paper)
Status: Published
Creators/Authors:
CreatorsEmailPitt UsernameORCID
Amraii Amirpour, Saman
Walker, Phillip
Lewis, Michael
Chakraborty, Nilanjan
Sycara, Katia
Date: June 2014
Date Type: Publication
Access Restriction: No restriction; Release the ETD for access worldwide immediately.
Journal or Publication Title: Proceedings of the 2014 IEEE International Conference on Robotics and Automation
Publisher: IEEE
Place of Publication: Hong Kong
Event Title: 2014 IEEE International Conference on Robotics & Automation (ICRA)
Event Type: Conference
Institution: University of Pittsburgh
Schools and Programs: School of Information Sciences > Information Science
Refereed: Yes
Date Deposited: 16 Jun 2014 17:00
Last Modified: 01 Nov 2017 12:55
URI: http://d-scholarship.pitt.edu/id/eprint/21817

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