A bio-inspired approach for collaborative exploration with mobile battery recharging in swarm robotics
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2018
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Springer Verlag
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Swarm Robotics are widely conceived as the development of new computationally efficient tools and techniques aimed at easing and enhancing the coordination of multiple robots towards collaboratively accomplishing a certain mission or task. Among the different criteria under which the performance of Swarm Robotics can be gauged, energy efficiency and battery lifetime have played a major role in the literature. However, technological advances favoring power transfer among robots have unleashed new paradigms related to the optimization of the battery consumption considering it as a resource shared by the entire swarm. This work focuses on this context by elaborating on a routing problem for collaborative exploration in Swarm Robotics, where a subset of robots is equipped with battery recharging functionalities. Formulated as a bi-objective optimization problem, the quality of routes is measured in terms of the Pareto trade-off between the predicted area explored by robots and the risk of battery outage in the swarm. To efficiently balance these conflicting two objectives, a bio-inspired evolutionary solver is adopted and put to practice over a realistic experimental setup implemented in the VREP simulation framework. Obtained results elucidate the practicability of the proposed scheme, and suggest future research leveraging power transfer capabilities over the swarm.
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Publisher Copyright: © 2018, Springer International Publishing AG, part of Springer Nature.
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Carrillo , M , Gallardo , I , Del Ser , J , Osaba , E , Sanchez-Cubillo , J , Bilbao , M N , Gálvez , A & Iglesias , A 2018 , A bio-inspired approach for collaborative exploration with mobile battery recharging in swarm robotics . in N Melab , P Korosec & E-G Talbi (eds) , Bioinspired Optimization Methods and Their Applications - 8th International Conference, BIOMA 2018, Proceedings . Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) , vol. 10835 LNCS , Springer Verlag , pp. 75-87 , 8th International Conference on Bioinspired Optimization Methods and Their Applications, BIOMA 2018 , Paris , France , 16/05/18 . https://doi.org/10.1007/978-3-319-91641-5_7
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