Quantitative analysis of distributed control paradigms of robot swarms

Trung Dung Ngo

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

1 Citation (Scopus)

Abstract

Given a task of designing controller for mobile robots in swarms, one might wonder which distributed control paradigms should be selected. Until now, paradigms of robot controllers have been within either behaviour based control or neural network based control, which have been recognized as two mainstreams of controller design for mobile robots. However, in swarm robotics, it is not clear how to determine control paradigms. In this paper we study the two control paradigms with various experiments of swarm aggregation. First, we introduce the two control paradigms for mobile robots. Second, we describe the physical and simulated robots, experiment scenario, and experiment setup. Third, we present our robot controllers based on behaviour based and neural network based paradigms. Fourth, we graphically show their experiment results and quantitatively analyse the results in comparison of the two methods. Closing remarks conclude the paper.
Original languageEnglish
Title of host publicationIEEE International Conference on Robotics and Biomimetics
Number of pages7
Place of PublicationTianjin, China
PublisherIEEE Press
Publication date13 Dec 2010
Pages116-122
ISBN (Print)978-1-4244-9318-0, 978-1-4244-9319-7
ISBN (Electronic)978-1-4244-9317-3
DOIs
Publication statusPublished - 13 Dec 2010
Event2010 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Tianjin, China
Duration: 14 Dec 201018 Dec 2010

Seminar

Seminar2010 IEEE International Conference on Robotics and Biomimetics (ROBIO)
CountryChina
CityTianjin
Period14/12/201018/12/2010

Keywords

  • swarm robotics

Cite this

Ngo, T. D. (2010). Quantitative analysis of distributed control paradigms of robot swarms. In IEEE International Conference on Robotics and Biomimetics (pp. 116-122). IEEE Press. https://doi.org/10.1109/ROBIO.2010.5723313