Modeling and Optimization of a Swarm-Intelligent Inspection System

We present a simple, behavior-based, distributed control algorithm to inspect a regular structure with a swarm of autonomous, miniature robots, using only on-board, local sensors. To estimate intrinsic advantages and limita- tions of the proposed control solution, we capture its characteristics at a higher abstraction level using non-spatial probabilistic microscopic and macroscopic models. Both models achieve consistent prediction on the chosen swarm metric and deliver a series of interesting qualitative and quantitative insights on further, counterintuitive, improvement of the distributed control algorithm. Modeling results were validated by experiments with one to twenty robots using a realistic simulator in the framework of a case study concerned with the inspection of a jet turbine.


Editor(s):
Alami, Rachid
Chatila, Raja
Asama, Hajime
Published in:
Proc. of the 7th Int. Symp. on Distributed Autonomous Robotic Systems (DARS), 2004, 369-378
Presented at:
Int. Symp. on Distributed Autonomous Robotic Systems (DARS), Toulouse, France, June 23-25
Year:
2006
Publisher:
Springer
ISBN:
978-4-431-35869-5
Keywords:
Laboratories:




 Record created 2004-11-04, last modified 2018-10-01

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