Physical interactions in swarm robotics: the hand-bot case study

This paper presents a case-study on the performance achieved by the mechanical interactions of self-assembling mobile robots. This study is based on the hand-bot robot, designed to operate within heterogeneous swarms of robots. The hand-bot is specialized in object manipulation and can improve its performance by exploiting physical collaborations by self-assembling with other hand-bots or with foot-bots (ground robots). The paper analyzes the achieved performance and demonstrates the highly super-linear properties of the accessible volume in respect to the number of robots. These extremely interesting performances are strongly linked to the self-assembling mechanisms and the physical nature of the interaction, and do not scale to a large number of robots. Finally, this study suggests that such interesting properties are more accessible for heterogeneous systems or devices achieving complex tasks.


Editor(s):
Martinoli, Alcherio
Mondada, Francesco
Correll, Nicolaus
Mermoud, Grégory
Egerstedt, Magnus
Hsieh, M. Ani
Parker, Lynne E.
Støy, Kasper
Published in:
Distributed Autonomous Robotic Systems, 585-595
Presented at:
10th International Symposium on Distributed Autonomous Robotic Systems (DARS 2010), Lausanne, Switzerland, November 1-3,2010
Year:
2012
Publisher:
Berlin Heidelberg, Springer
ISBN:
978-3-642-32722-3
Keywords:
Laboratories:




 Record created 2012-03-07, last modified 2018-09-13

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