Buchanan Berumen, Edgar orcid.org/0000-0001-6587-8808, Alden, Kieran James, Pomfret, Andy orcid.org/0000-0003-0325-1617 et al. (2 more authors) (2023) A study of error diversity in robotic swarms for task partitioning in foraging tasks. Frontiers in Robotics and AI. ISSN 2296-9144
Abstract
Often in swarm robotics, an assumption is made that all robots in the swarm behave the same and will have a similar (if not the same) error model. However, in reality this is not the case and this lack of uniformity in the error model, and other operations, can lead to various emergent behaviours. This paper considers the impact of the error model and compares robots in a swarm that operate using the same error model (uniform error) against each robot in the swarm having a different error model (thus introducing error diversity). Experiments are presented in the context of a foraging task. Simulation and physical experimental results show the importance of the error model and diversity in achieving expected swarm behaviour.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | This is an author-produced version of the published paper. Uploaded in accordance with the publisher’s self-archiving policy. Further copying may not be permitted; contact the publisher for details |
Keywords: | swarm robotics,fault-tolerance,error diversity,Task partitioning,foraging |
Dates: |
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Institution: | The University of York |
Academic Units: | The University of York > Faculty of Sciences (York) > Electronic Engineering (York) |
Depositing User: | Pure (York) |
Date Deposited: | 12 Dec 2022 11:30 |
Last Modified: | 08 Jan 2025 00:12 |
Published Version: | https://doi.org/10.3389/frobt.2022.904341 |
Status: | Published |
Refereed: | Yes |
Identification Number: | 10.3389/frobt.2022.904341 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:194309 |