Follow-the-leader formation marching through a scalable O(log<inf>2</inf>n) Parallel Architecture.

Abstract

. Although several works have addressed such problem, little attention has been devoted to study the computational complexity within the framework of large-scale systems. This paper presents our current work on how to achieve high computational performance for systems composed by a large number of robots that must fulfill with a marching and formation task. A scalable Multi-Processor Parallel Architecture is introduced with the purpose of achieving scalability, i.e., computation time of O(log 2 n) for a n-robots system. Our architecture has been tested onto a multi-processor system and validated against several simulations testing.

Swarm robotics reviewed

“…20,[45][46][47] Swarm robotic research can therefore have a significant economical and social impact.…”

“…Even with the drawbacks of SR systems the potential benefits are highly sought after in a wide range of application areas, including nuclear, chemical and biological attack detection, 40 battlefield surveillance, 31 space exploration, 28,37 pollution detection [41][42][43][44] and search and rescue. 20,[45][46][47] Swarm robotic research can therefore have a significant economical and social impact.…”