2019/07/08 by John Harwell, Harwell, John, Maria Gini +1
Engineering · Biochemistry, Genetics and Molecular Biology · Computer Science · #Modular Robots and Swarm Intelligence #Insect and Arachnid Ecology and Behavior #Distributed Control Multi-Agent Systems
paper · pdf · doi:10.48550/arxiv.1907.03880
When designing swarm-robotic systems, systematic comparison of algorithms\nfrom different domains is necessary to determine which is capable of scaling up\nto handle the target problem size and target operating conditions. We propose a\nset of quantitative metrics for scalability, flexibility, and emergence which\nare capable of addressing these needs during the system design process. We\ndemonstrate the applicability of our proposed metrics as a design tool by\nsolving a large object gathering problem in temporally varying operating\nconditions using iterative hypothesis evaluation. We provide experimental\nresults obtained in simulation for swarms of over 10,000 robots.\n