7. Communication
- G-robots estmates color ground and send it to
L-robots
- L-robots estimates light intensity and send it
to L-robots
- All robots estimates number of objects in the
room
8. Tests
Tests have been performed using different
settings:
- Swarm size N in the range {20,25,30,35,40}
- Ratio p in the range {0.25, 0.5, 0.75}
where TG is the subpopulation of G-robots and
TL is the subpopulation of L-robots
9.
10.
11.
12. Conclusion
Self organization:
- defining only the single robot's behavior, a
swarm behavior emerges.
Local interaction:
- in-room interaction
Partial knowledge:
- no global information shared
- no environment a priori information
- in-room memory
13. Robustness:
the swarm is still capable to reach its goal if
some robots stop working.
Flexibility:
the swarm is capable to work in a changing
environment.
With very similar rooms it tends to
interchange between the two rooms.
Scalability:
- using different numbers of G-robots and L-
robots, doesn't degrade in performance
- increasing in size, still able to agree in a
common choice but performance degrades.
