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  4. Decentralized Conflict Resolution for Navigation in Swarm Robotics
 
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2024
Conference Paper
Title

Decentralized Conflict Resolution for Navigation in Swarm Robotics

Abstract
The main challenge in multi-robot navigation is the resolution of navigation conflicts between agents caused by intersecting paths. The contributions of this paper are: The creation of a robot framework that allows us to study the emergent behavior of a swarm of robots in a navigation task that involves frequent conflicts, a baseline strategy for decentralized conflict resolution and a more advanced strategy called Decentralized Collective Conflict Resolution (DCCR). To resolve conflicts, the DCCR strategy uses communication between robots and collective decision-making to create planning constraints, while the baseline strategy creates implicit priorities from communication timing. To show the effectiveness of our methods, we use a swarm of up to ten TurtleBot3 robots applying the DCCR and the baseline strategies in simulated and real-world experiments. In scenarios with more than six robots, the baseline strategy is outperformed by the DCCR strategy, which has more resilience against congestion.
Author(s)
Mai, Sebastian  
Otto-von-Guericke University Magdeburg
Mostaghim, Sanaz
Fraunhofer-Institut für Verkehrs- und Infrastruktursysteme IVI  
Mainwork
Swarm Intelligence. 14th International Conference, ANTS 2024. Proceedings  
Conference
International Conference on Swarm Intelligence 2024  
DOI
10.1007/978-3-031-70932-6_17
Language
English
Fraunhofer-Institut für Verkehrs- und Infrastruktursysteme IVI  
Keyword(s)
  • robotics

  • navigation

  • decentralized collective conflict resolution

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