Coordinating Heterogeneous Swarms through Minimal Communication among Homogeneous Sub-swarms
نویسندگان
چکیده
In swarm robotics, the agents are often assumed to be identical. In this paper, we argue that the cooperation between swarms of different kinds of robots can enhance the capabilities of the robotic system — heterogeneous swarms marry the robustness and parallelism of homogeneous swarms with efficient task specialisation. A key problem of heterogeneous swarm systems is the potential complexity of interagent communication between different robot types. We show that minimal communication between homogeneous sub-swarms is sufficient to engineer ordered global behaviours. To test our approach, we run simulated experiments in which a group of flying robots recruits and delivers wheeled robots to target locations.
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