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The Robot Swarm Re-localization Problem

Nicolas Bredeche 1, 2, 3 Yann Chevaleyre 4
1 TANC - Algorithmic number theory for cryptology
Inria Saclay - Ile de France, LIX - Laboratoire d'informatique de l'École polytechnique [Palaiseau]
3 TAO - Machine Learning and Optimisation
CNRS - Centre National de la Recherche Scientifique : UMR8623, Inria Saclay - Ile de France, UP11 - Université Paris-Sud - Paris 11, LRI - Laboratoire de Recherche en Informatique
Abstract : This paper tackles the problem of re-localization in a swarm of moving virtual robots where some robots might be lost and where the distance between each neighboring robot is known within a limited communication radius (e.g. using the strength of a radio/wifi signal), whereas the precise localization is not known. The basic process in relocalization relies in a robot swarm that re-aggregates based on local information only by recruiting lost robots so as to build a swarm configuration where localization is possible and non-ambiguous. The main issues in relocalization is to provide highly decentralised behaviors for ensuring efficient and fast re-aggregation of the swarm that is scale independent. In this paper, the problem of relocalization is defined as well as criteria for evaluating swarm relocalization efficiency. Moreover, a set of decentralized behaviors based on local reactive behaviors is presented and experimentally studied.
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https://hal.inria.fr/inria-00336690
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Submitted on : Tuesday, November 4, 2008 - 5:25:39 PM
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Nicolas Bredeche, Yann Chevaleyre. The Robot Swarm Re-localization Problem. 5th IEEE International Conference on Robotics and Biomimetics (ROBIO 2008), 2008, Bangkok, Thailand. ⟨inria-00336690⟩

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