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A Decentralised Swarm Approach for Mobile Robot-Systems


A Decentralised Swarm Approach for Mobile Robot-Systems

Mobile Swarm Robotics and its many challenges are highly worked on in many scientific research projects. The drawback of most existing approaches lies in the need of a central coordination unit for planning and controlling the swarms members. To create a real autonomous swarm, adaptive agents have to be introduced that reason about their current situation and constructively cooperate with each other. To port the needed algorithms to robotic systems, agents have to be empowered with appropriate sensors and actuators. Complications increase when focusing on aerial robots like multicopters. An overview of challenges and possible solution strategies is presented whose implementation leads to an autonomous swarm of multicopters.
published 2015 Organic Computing: Doctoral Dissertation Colloquium 2015

Publisher: kassel university press GmbH