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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2411.07056 |
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| _version_ | 1866929587574800384 |
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| author | Jones, Simon Hauert, Sabine |
| author_facet | Jones, Simon Hauert, Sabine |
| contents | Building a distributed spatial awareness within a swarm of locally sensing and communicating robots enables new swarm algorithms. We use local observations by robots of each other and Gaussian Belief Propagation message passing combined with continuous swarm movement to build a global and distributed swarm-centric frame of reference. With low bandwidth and computation requirements, this shared reference frame allows new swarm algorithms. We characterise the system in simulation and demonstrate two example algorithms. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_07056 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Distributed Spatial Awareness for Robot Swarms Jones, Simon Hauert, Sabine Robotics Building a distributed spatial awareness within a swarm of locally sensing and communicating robots enables new swarm algorithms. We use local observations by robots of each other and Gaussian Belief Propagation message passing combined with continuous swarm movement to build a global and distributed swarm-centric frame of reference. With low bandwidth and computation requirements, this shared reference frame allows new swarm algorithms. We characterise the system in simulation and demonstrate two example algorithms. |
| title | Distributed Spatial Awareness for Robot Swarms |
| topic | Robotics |
| url | https://arxiv.org/abs/2411.07056 |