Eugenio Schuster

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.

Research Funding

Prof. Schuster's research work has been supported by the National Science Foundation (NSF) through the CAREER Award Program and the Basic Plasma Science Program, the U.S. Department of Energy (DOE), the Commonwealth of Pennsylvania, Department of Community and Economic Development, through the Pennsylvania Infrastructure Technology Alliance (PITA), the New York State Energy Research and Development Authority (NYSERDA), national laboratories and private companies.