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Performance evaluation of a multi-robot search & retrieval system: Experiences with MinDART (2003)
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| Venue: | Journal of Intelligent and Robotic Systems |
| Citations: | 10 - 0 self |
BibTeX
@TECHREPORT{Rybski03performanceevaluation,
author = {Paul E. Rybski and Amy Larson and Harini Veeraraghavan and Monica Anderson Lapoint and Maria Gini},
title = {Performance evaluation of a multi-robot search & retrieval system: Experiences with MinDART},
institution = {Journal of Intelligent and Robotic Systems},
year = {2003}
}
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Abstract
Swarm techniques, where many simple robots are used instead of complex ones for performing a task, promise to reduce the cost of developing robot teams for many application domains. The challenge lies in selecting an appropriate control strategy for the individual units. This work explores the effect of different control strategies of varying complexity and of various environmental factors on performance of a team of robots at a foraging task when using physical robots (the Minnesota Distributed Autonomous Robotic Team). Specifically we study the effect of localization and of simple communication techniques on task completion time using two sets of foraging experiments. We also present results for task performance with varying team sizes and target distribution. As indicated by the results, control strategies with increasing complexity reduce the variance in the performance, but do not always reduce the time to complete the task. 1
Keyphrases
performance evaluation multi-robot search retrieval system task performance foraging task target distribution many application domain individual unit robot team physical robot appropriate control strategy control strategy various environmental factor different control strategy simple communication technique complex one minnesota distributed autonomous robotic team team size task completion time swarm technique many simple robot present result
