Orchestration of Intelligent Ground Vehicles into a Homogeneous Swarm via the Google Cloud

In this paper, we describe a Swarm of Robotic Ground Agents, which communicate with each other and collectively solve a myriad of tasks. The system deploys a Base Station, which communicates with all other Agents on the field. The Base Station also communicates with an Operations Center over the Internet. The Operations Center can arbitrate missions and monitor progress through a robust Cloud environment. The Base Station executes orchestration algorithms to achieve mission objectives. It distributes mission parameters to the Agents and relays gathered information back to the Operations Center through the Cloud. We elaborate on the development of our system in a cost effective and efficient manner.