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A reactive coordination scheme for a many-robot system.

K S Evans1, C Unsal, J S Bay

  • 1Digital Directory, Knoxville, TN.

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society
|January 1, 1997
PubMed
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This study introduces a novel broadcast coordination method for mobile robot swarms, using "heartbeats" from van der Pol oscillators to achieve synchronized group actions without central control.

Area of Science:

  • Robotics
  • Control Systems
  • Complex Systems

Background:

  • Coordinating homogeneous mobile robot systems, like the Army Ant swarm, is challenging without a central supervisor.
  • Existing methods struggle with decentralized control, limiting complex cooperative tasks.
  • Implicit communication through broadcasts offers a potential solution for swarm coordination.

Purpose of the Study:

  • To present a novel broadcast-based coordination scheme for homogeneous mobile robot systems.
  • To address the coordination and control difficulties in decentralized agent systems.
  • To enable simultaneous actions and global speed control in robot swarms.

Main Methods:

  • Utilizing implicit communication via broadcasts for robot coordination.
  • Implementing a coordination scheme based on unique

Related Experiment Videos

  • heartbeats
  • generated by van der Pol oscillators.
  • Leveraging the properties of coupled van der Pol oscillators for predictable group behavior.

    • Main Results:

    • Demonstrated a global
    • group dynamic
    • controlled by local interactions and heartbeat signals.
    • Successfully enabled simultaneous actions (lifting, steering, speed change) among robots.
    • Validated the coordination scheme through experiments on physical circuits and simulations, including global speed control.

    Conclusions:

    • The proposed heartbeat-based broadcast coordination scheme effectively manages homogeneous mobile robot swarms.
    • This decentralized approach overcomes limitations of central supervision, enabling complex cooperative behaviors.
    • The use of van der Pol oscillators provides a robust mechanism for predictable swarm dynamics and control.