Robotic Swarm Dispersion Using Wireless Intensity Signals

Abstract

Summary. Dispersing swarms of robots to cover an unknown, potentially hostile area is useful to setup a sensor network for surveillance. Previous research assumes relative locations (distance and bearing) of neighboring robots are available to each robot through sensors. Many robots are too small to carry sensors capable of providing this information. We use wireless signal intensity as a rough approximation of distance to assist a large swarm of small robots in dispersion. Simulation experiments indicate that a swarm can effectively disperse through the use of wireless signal intensities without knowing the relative locations of neighboring robots.

A swarm-based algorithm for optimal spatial coverage of an unknown region

“…This technique doesn't take into consideration the problem of coverage redundancy. Ludwig et al [8] extends this work by adding wireless signal intensity as a rough approximation of distance between robots. The Clique Intensity Algorithm described considers each robot as a node, finds maximal cliques and disperses the swarm based on clique intensity.…”

An Introduction to Swarm Robotics

“…According to them, and although robots do not have information about the bearing to neighbouring robots, the algorithm successfully disperses the robots. Ludwig and Gini [37] and Damer et al [38] also only use the wireless intensity for dispersion of a swarm of robots. ey use a more elaborated algorithm that takes into account a graph of the neighbouring robots and the received signal intensities.…”

Self-Organized Connectivity Control and Optimization Subjected to Dispersion of Mobile Ad Hoc Sensor Networks

“…For a mobile sensor network driven by the distributed control law defined by (2) and (8) with a set of initial condition…”