Dynamic Optimization of a Heterogeneous Swarm of Robots

M. Pekala and E. Schuster

IASTED International Conference on Intelligent Systems and Control

Boston, Massachusetts, November 19-21, 2007

Abstract

The control mechanisms of swarms of cooperating robots have been studied for some time now, but usually assuming homogeneous swarms. This paper presents a control algorithm for a heterogeneous swarm of cooperating robots based on a modification of the ant colony optimization (ACO) method. We consider the possibility of a partially disabled robot, we analyze the effect it would have on a heterogeneous swarm of robots, and we discuss how to work around the disability. We examine the effectivness of this control algorithm through a simulation study. For this purpose, a biologically inspired strategy is used for the movement of the robots.