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Decentralized Method for Sub-swarm Deployment and Rejoining

Chandarana, Meghan and Luo, Wenhao and Lewis, Michael and Sycara, Katia and Scherer, Sebastian (2018) Decentralized Method for Sub-swarm Deployment and Rejoining. 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC).

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As part of swarm search and service (SSS) missions, robots are tasked with servicing jobs as they are sensed. This requires small sub-swarm teams to leave the swarm for a specified amount of time to service the jobs. In doing so, fewer robots are required to change motion than if the whole swarm were diverted, thereby minimizing the job’s overall effect on the swarm’s main goal. We explore the problem of removing the required number of robots from the swarm, while maintaining overall swarm connectivity. By preserving connectivity, robots are able to successfully rejoin the swarm upon completion of their assigned job. These robots are then made available for reallocation. We propose a decentralized and asynchronous method for breaking off sub-swarm groups and rejoining them with the main swarm using the swarm’s communication graph topology. Both single and multiple job site cases are explored. The results are compared against a full swarm movement method. Simulation results show that the proposed method outperforms a full swarm method in the average number of messages sent per robot in each step, as well as, the distance traveled by the swarm.


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Item Type: Article
Status: Published
CreatorsEmailPitt UsernameORCID
Chandarana, Meghan
Luo, Wenhao
Lewis, Michaelml@sis.pitt.educmlewis0000-0002-1013-9482
Sycara, Katia
Scherer, Sebastian
Date: October 2018
Date Type: Publication
Journal or Publication Title: 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC)
DOI or Unique Handle: 10.1109/smc.2018.00212
Schools and Programs: School of Computing and Information > Information Science
Refereed: Yes
Article Type: Research Article
Date Deposited: 31 May 2019 16:40
Last Modified: 31 May 2019 16:41


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