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Adaptive Robotics & Technology Lab

Texas A&M University College of Engineering

Distributed Communication and Localization Algorithms for Homogeneous Robotic Swarm

Donghwa Jeong and Kiju Lee

Distributed Autonomous Robotic Systems (DARS)

15 January 2016

DOI: 10.1007/978-4-431-55879-8_28

Swarm robotics aims to achieve physical flexibility, overall system robustness, and enhanced reliability and efficiency by employing a group of autonomous robots for collective task performance. Achieving collective performance by individual robots with limited sensing, processing, and communication capabilities, however, faces several technical challenges, such as difficulties in establishing reliable communication and decentralized control among the robots. This paper presents the following wireless communication algorithms that can be applied to homogeneous swarm robots: (1) infrared-based short-distance communication between the adjacent robots using a self-synchronization technique; and (2) long-distance communication and localization based on distance measurement using radio signals. In addition, two decentralized global shape formation algorithms for homogeneous swarm robots are presented for simulating dispersion and line formation collectively achieved by homogeneous swarm robots.

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