Double wave swarm: uma estratégia de comunicação em sistemas multi-robôs para tarefas de navegação em formação

Abstract

Multi-robots can perform complex tasks such as exploration, foraging, formation, and flocking. Efficient communication between robots can contribute to bringing about collective tasks through efficient message exchange. This work proposes a method based on the Wave Swarm for the formation task inspired by the Traveling Salesman Problem. Given a random distribution of robots in a swarm, the Traveling Salesman Problem is used to establish the parental relationship between the robots in the swarm. Also, we propose a communication strategy for swarm robots, the Double-Wave Swarm. The Double-Wave Swarm uses the exchange of messages between neighbors robots for the synchronization of subtasks and the exchange of information for the execution of tasks. The Double-Wave Swarm is an improvement of a prior Wave Swarm communication approach. We adopted the leader-follower approach in an unknown environment and local communication to validate both proposals. Experiments with the robot simulator CoppeliaSim (V-REP) validate the proposed inspired by the Traveling Salesman Problem and the Double-Wave Swarm.