MQP - Hierarchical Swarm Robots

Project report can be found here:
http://www.wpi.edu/Pubs/E-project/Available/E-project-042611-121357/

Abstract


The basis for this idea is that with current implementations of swarm robotics there is an overall trend where all the robots in the swarm are the same in terms of processing power, design, and computational ability. Generally they have the same sensors and chips, and designing therefore it is a micro world where everyone is equal. In reality, that is nearly never the case and it is much more likely the problem is presented via a hierarchy system. For example on a job site, there are not 1000 workers all of equal status who decide to go out and "work" and then ask for help when they need it. You have a site foreman who controls everyone, under him are managers, and under the managers are the actual workers who get everything done. As you increase in level of the hierarchy, the overall knowledge, processing power, and reasoning increases drastically. With this application of a swarm, behaviors that closely mimic real life situations can be recreated to a high degree of accuracy.

Hierarchical Swarm Robots
Hierarchical Swarm Robots
Hierarchical Swarm Robots


Students Involved

  • Nick Alunni
  • Richard Goloski
  • Andrew Haggerty
  • Eric Jones

Project Supervisor

Related Publications

  1. Goloski R, Haggerty A, Jones E, Fischer GS, Nestinger SS , A sensor-zone hierarchical topology for multi-robot exploration, IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications (MESA), Suzhou, China, July 2012. IEEE