Simulation of hardware variations in swarm robots
Simulation of hardware variations in swarm robots
Swarm robotic systems can offer advantages of robustness, flexibility and scalability, just like social insects. One assumption that is made by the majority of swarm robotic researchers, particularly in software simulation, is that a robotic swarm is a group of identical robots, there is no difference between any two of them. However, differences among hardware robots are unavoidable. These hardware differences, albeit small, affect the robots response to its environment. In this work, robots with hardware variation have been modeled and simulated in a line following scenario. It is found that even small hardware variations can result in behavioral heterogeneity. Although the variations can be compensated by the controllers in training, the hardware variation and resulting differences in controller settings are amplified in the non-linear interaction between robot and environment. Accordingly, the behavior of the identically trained robots in the same environment are subject to divergence.
Shang, Beining
bf2c1a53-dc96-4237-87f0-793f6078da44
Crowder, Richard
ddeb646d-cc9e-487b-bd84-e1726d3ac023
Zauner, Klaus-Peter
c8b22dbd-10e6-43d8-813b-0766f985cc97
16 October 2013
Shang, Beining
bf2c1a53-dc96-4237-87f0-793f6078da44
Crowder, Richard
ddeb646d-cc9e-487b-bd84-e1726d3ac023
Zauner, Klaus-Peter
c8b22dbd-10e6-43d8-813b-0766f985cc97
Shang, Beining, Crowder, Richard and Zauner, Klaus-Peter
(2013)
Simulation of hardware variations in swarm robots.
IEEE International Conference on Systems, Man, and Cybernetics, Manchester, United Kingdom.
13 - 16 Oct 2013.
6 pp
.
Record type:
Conference or Workshop Item
(Paper)
Abstract
Swarm robotic systems can offer advantages of robustness, flexibility and scalability, just like social insects. One assumption that is made by the majority of swarm robotic researchers, particularly in software simulation, is that a robotic swarm is a group of identical robots, there is no difference between any two of them. However, differences among hardware robots are unavoidable. These hardware differences, albeit small, affect the robots response to its environment. In this work, robots with hardware variation have been modeled and simulated in a line following scenario. It is found that even small hardware variations can result in behavioral heterogeneity. Although the variations can be compensated by the controllers in training, the hardware variation and resulting differences in controller settings are amplified in the non-linear interaction between robot and environment. Accordingly, the behavior of the identically trained robots in the same environment are subject to divergence.
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shang_crowder_zauner_IEEE_SMC13-kpz(2).pdf
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Published date: 16 October 2013
Venue - Dates:
IEEE International Conference on Systems, Man, and Cybernetics, Manchester, United Kingdom, 2013-10-13 - 2013-10-16
Organisations:
Agents, Interactions & Complexity
Identifiers
Local EPrints ID: 359035
URI: http://eprints.soton.ac.uk/id/eprint/359035
PURE UUID: 19af4e2b-fab3-4ec9-96f0-5a0ee897c578
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Date deposited: 18 Oct 2013 16:32
Last modified: 14 Mar 2024 15:13
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Contributors
Author:
Beining Shang
Author:
Richard Crowder
Author:
Klaus-Peter Zauner
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