2022/01/04 by Samuel Arseneault, Arseneault, Samuel, David Vielfaure +3
Computer Science · #FOS: Computer and information sciences #Mobile Ad Hoc Networks #Opportunistic and Delay-Tolerant Networks #Peer-to-Peer Network Technologies #Robotics (cs.RO)
paper · doi:10.48550/arxiv.2201.01349
openalex publication_date 2022/01/04 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/29
In robotics, data acquisition often plays a key part in unknown environment exploration. For example, storing information about the topography of the explored terrain or the natural dangers in the environment can inform the decision-making process of the robots. Therefore, it is crucial to store these data safely and to make it available quickly to the operators of the robotic system. In a decentralized system like a swarm of robots, this entails several challenges. To address them, we propose RASS, a decentralized risk-aware swarm storage and routing mechanism, which relies exclusively on local information sharing between neighbours to establish storage and routing fitness. We test our system through thorough experiments in a physics-based simulator and test its real-world applicability with physical experiments. We obtain convincing reliability, routing speeds, and swarm storage capacity results.