著者

Kobayashi Kazuho Higuchi Takehiro Ueno Seiya

出版者

International Society of Artificial Life and Robotics

雑誌

Proceedings of the Joint Symposium of AROB-ISBC-SWARM2022

巻号頁・発行日

pp.897-902, 2022-01

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Swarm robotics requires a practical scheme to maintain supervision by human operators or managers, especially in complicated or life-threatening situations. For this purpose, this paper proposes an algorithm to maintain connectivity between robot swarm and fixed base station during missions. The main idea of the algorithm is maintaining connectivity by role allocation and switching among robots without centralized control by the base station. Our simulation studies have shown no significant inequality of computational cost among robots over the emulated patrol missions. Furthermore, as the total number of robots in the swarm increase, computational cost per robot does not increase significantly. These results have shown the distributed nature and scalability of the proposed algorithms.