Soriano Marcolino, Leandro and Chaimowicz, Luiz (2008) Experiments in the coordination of large groups of robots. In: Advances in Artificial Intelligence - SBIA 2008 : 19th Brazilian Symposium on Artificial Intelligence Savador, Brazil, October 26-30, 2008. Proceedings. Lecture Notes in Computer Science . Springer-Verlag, Berlin, pp. 268-277. ISBN 9783540881896
Abstract
The use of large groups of robots, generally called swarms, has gained increased attention in recent years. In this paper, we present and experimentally validate an algorithm that allows a swarm of robots to navigate in an environment containing unknown obstacles. A coordination mechanism based on dynamic role assignment and local communication is used to help robots that may get stuck in regions of local minima. Experiments were performed using both a realistic simulator and a group of real robots and the obtained results showed the feasibility of the proposed approach.