Sandsbots: Robots That Sync and Swarm

Barciś, Agata; Bettstetter, Christian

doi:10.1109/access.2020.3041393

Cited by 46 publications

(33 citation statements)

References 27 publications

(61 reference statements)

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“…In what concerns systems that require a tight clock synchronization, an adaptive synchronization method has been proposed based on time slotted channel hopping technique to empower devices needing to synchronize the ability to track and predict its own clock trickling relative to neighbors [ 77 ]. Other approaches related to clock synchronization for the coordination of multi-robot models have been exploited, namely the theory of swamalators in space and time to form a coupling block for swarms [ 78 ].…”

Section: System Componentsmentioning

confidence: 99%

Drone Swarms as Networked Control Systems by Integration of Networking and Computing

Asaamoning

Mendes

Rosário

et al. 2021

Sensors

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The study of multi-agent systems such as drone swarms has been intensified due to their cooperative behavior. Nonetheless, automating the control of a swarm is challenging as each drone operates under fluctuating wireless, networking and environment constraints. To tackle these challenges, we consider drone swarms as Networked Control Systems (NCS), where the control of the overall system is done enclosed within a wireless communication network. This is based on a tight interconnection between the networking and computational systems, aiming to efficiently support the basic control functionality, namely data collection and exchanging, decision-making, and the distribution of actuation commands. Based on a literature analysis, we do not find revision papers about design of drone swarms as NCS. In this review, we introduce an overview of how to develop self-organized drone swarms as NCS via the integration of a networking system and a computational system. In this sense, we describe the properties of the proposed components of a drone swarm as an NCS in terms of networking and computational systems. We also analyze their integration to increase the performance of a drone swarm. Finally, we identify a potential design choice, and a set of open research challenges for the integration of network and computing in a drone swarm as an NCS.

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Section: System Componentsmentioning

confidence: 99%

Drone Swarms as Networked Control Systems by Integration of Networking and Computing

Asaamoning

Mendes

Rosário

et al. 2021

Sensors

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“…The entities defined in this model, called We adapted a nd extended t he swarmalator model for use in mobile robotics. 15 Besides being visually attractive, the formation of such patterns is also beneficial for stereophotography, artistic drone shows, and other applications. Our doctoral students implemented the model on Crazyflie quadcopters and showcased an aerial swarm in our dronehall (see Figure 4).…”

Section: Emergent Patternsmentioning

confidence: 99%

Multidrone Systems: More Than the Sum of the Parts

et al. 2021

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“…The robots are connected using an IEEE 802.11 wireless network in an ad-hoc mode. Examples of such applications are presented in our previous works Barciś and Bettstetter, 2020;Mazdin et al, 2020;Mazdin and Rinner, 2021;Rinner et al, 2021). All of these works are motivated by a use case of a group of UAVs collaboratively performing a 3D reconstruction of an unknown area.…”

Section: System Designmentioning

confidence: 99%

Information Distribution in Multi-Robot Systems: Generic, Utility-Aware Optimization Middleware

et al. 2021

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This work addresses the problem of what information is worth sending in a multi-robot system under generic constraints, e.g., limited throughput or energy. Our decision method is based on Monte Carlo Tree Search. It is designed as a transparent middleware that can be integrated into existing systems to optimize communication among robots. Furthermore, we introduce techniques to reduce the decision space of this problem to further improve the performance. We evaluate our approach using a simulation study and demonstrate its feasibility in a real-world environment by realizing a proof of concept in ROS 2 on mobile robots.

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Sandsbots: Robots That Sync and Swarm

Cited by 46 publications

References 27 publications

Drone Swarms as Networked Control Systems by Integration of Networking and Computing

Drone Swarms as Networked Control Systems by Integration of Networking and Computing

Multidrone Systems: More Than the Sum of the Parts

Information Distribution in Multi-Robot Systems: Generic, Utility-Aware Optimization Middleware

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