In this paper, we discuss strengths and limitations of different abstraction levels for distributed robotics experiments. We support the discussion with a concrete case study which has been investigated at four different levels: real robots, embodied simulations, microscopic modeling, and macroscopic modeling. Both modeling methodologies presented represent the collective dynamics of the experiment as a set of stochastic events based on simple geometrical considerations and systematic tests with one or two real robots instead of computing trajectories and sensory information like an embodied simulator would do. The case study we describe is concerned with pulling sticks out of the ground - an action which requires the collaboration of two robots to be successful. Experiments were carried out with teams consisting of two to 24 individuals endowed with simple reactive controllers. In addition to showing that models can deliver both qualitatively and quantitatively correct predictions in time lapses that are three or four orders of magnitude smaller than those required by embodied simulations, we discuss differences, assumptions, and subtle numerical effects of the current modeling methodologies.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Modeling Swarm Robotic Systems


    Beteiligte:
    Siciliano, Bruno (Herausgeber:in) / Dario, Paolo (Herausgeber:in) / Martinoli, Alcherio (Autor:in) / Easton, Kjerstin (Autor:in)


    Erscheinungsdatum :

    30.06.2003


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Quantifying Robotic Swarm Coverage

    Anderson, Brendon G. / Loeser, Eva / Gee, Marissa et al. | British Library Conference Proceedings | 2020


    Quantifying Robotic Swarm Coverage

    Anderson, Brendon G. / Loeser, Eva / Gee, Marissa et al. | TIBKAT | 2020


    Quantifying Robotic Swarm Coverage

    Anderson, Brendon G. / Loeser, Eva / Gee, Marissa et al. | Springer Verlag | 2019


    Robotic Swarm Localization Using Ranging Radios

    LACAZE ALBERTO DANIEL / MURPHY KARL NICHOLAS / PUTNEY JOSEPH et al. | Europäisches Patentamt | 2019

    Freier Zugriff

    Robotic Swarm Localization Using Ranging Radios

    LACAZE ALBERTO DANIEL / MURPHY KARL NICHOLAS / PUTNEY JOSEPH et al. | Europäisches Patentamt | 2019

    Freier Zugriff