Repository logo

Infoscience

  • English
  • French
Log In
Logo EPFL, École polytechnique fédérale de Lausanne

Infoscience

  • English
  • French
Log In
  1. Home
  2. Academic and Research Output
  3. Conferences, Workshops, Symposiums, and Seminars
  4. Efficiency and Optimization of Explicit and Implicit Communication Schemes in Collaborative Robotics Experiments
 
conference paper

Efficiency and Optimization of Explicit and Implicit Communication Schemes in Collaborative Robotics Experiments

Easton, K.
•
Martinoli, A.  
2002
Proc. of the IEEE Conf. on Intelligent Robots and Systems IROS-02
2002 IEEE/RSJ International Conference on Intelligent Robots and Systems

This paper presents an investigation of three communication schemes which may be used in a distributed robotic system, two based on implicit forms of communication (mechanical interaction and vision) and one on an explicit form of communication (infrared signaling). To support the discussion, we have chosen a concrete case study concerned with locating and pulling sticks out of an arena floor, a task successfully achieved only through collaboration between two robots. Communication schemes, among other system features, heavily influence the rate of successful collaborations, the metric adopted to evaluate the performance of the robotic team. Results collected using an embodied simulator show that, as a function of the system constraints (e.g., number of robots, hardware and behavioral parameters,) solutions based on more complex individuals do not necessarily lead to an improved team performance. Although the stick pulling is a simple case study without any practical application, it presents all the main difficulties of designing and controlling scalable, distributed robotic systems, characterized by subtle, nested effects between individual and group behavior or hardware and software parameters. We believe that embodied simulations are a key level of implementation in helping us understand these subtle mechanisms, achieve further abstraction, and optimize the system before any real hardware solution is implemented.

  • Files
  • Details
  • Metrics
Loading...
Thumbnail Image
Name

iros2002.pdf

Type

Postprint

Version

http://purl.org/coar/version/c_ab4af688f83e57aa

Access type

openaccess

License Condition

copyright

Size

376.17 KB

Format

Adobe PDF

Checksum (MD5)

109189a05982a9e436e9ea4167800256

Logo EPFL, École polytechnique fédérale de Lausanne
  • Contact
  • infoscience@epfl.ch

  • Follow us on Facebook
  • Follow us on Instagram
  • Follow us on LinkedIn
  • Follow us on X
  • Follow us on Youtube
AccessibilityLegal noticePrivacy policyCookie settingsEnd User AgreementGet helpFeedback

Infoscience is a service managed and provided by the Library and IT Services of EPFL. © EPFL, tous droits réservés