RT Conference Proceedings
T1 A bio-inspired approach for collaborative exploration with mobile battery recharging in swarm robotics
A1 Carrillo, Maria
A1 Gallardo, Ian
A1 Del Ser, Javier
A1 Osaba, Eneko
A1 Sanchez-Cubillo, Javier
A1 Bilbao, Miren Nekane
A1 Gálvez, Akemi
A1 Iglesias, Andrés
A2 Melab, Nouredine
A2 Korosec, Peter
A2 Talbi, El-Ghazali
AB 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.
PB Springer Verlag
SN 9783319916408
SN 0302-9743
YR 2018
FD 2018
LK https://hdl.handle.net/11556/2466
UL https://hdl.handle.net/11556/2466
LA eng
NO 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
NO conference
NO Publisher Copyright: © 2018, Springer International Publishing AG, part of Springer Nature.
NO Acknowledgments. E. Osaba and J. Del Ser would like to thank the Basque Government for its funding support through the EMAITEK program. Likewise, the involvement of A. Galvez and A. Iglesias in this work has been funded by the Agencia Estatal de Investigación (grant no. TIN2017-89275-R), the European Union through FEDER Funds (AEI/FEDER), and the project #JU12, jointly supported by the public body SODERCAN and European Funds FEDER (SODERCAN/FEDER).
DS TECNALIA Publications
RD 29 sept 2024