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Robotics 2016, 5(4), 22; doi:10.3390/robotics5040022

Deployment Environment for a Swarm of Heterogeneous Robots

Interdisciplinary Robotics, Intelligent Sensing and Control (RISC) Laboratory, School of Engineering, University of Bridgeport, Bridgeport, CT 06604, USA
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Academic Editor: Huosheng Hu
Received: 8 June 2016 / Revised: 10 September 2016 / Accepted: 26 September 2016 / Published: 26 October 2016
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Abstract

The objective of this work is to develop a framework that can deploy and provide coordination between multiple heterogeneous agents when a swarm robotic system adopts a decentralized approach; each robot evaluates its relative rank among the other robots in terms of travel distance and cost to the goal. Accordingly, robots are allocated to the sub-tasks for which they have the highest rank (utility). This paper provides an analysis of existing swarm control environments and proposes a software environment that facilitates a rapid deployment of multiple robotic agents. The framework (UBSwarm) exploits our utility-based task allocation algorithm. UBSwarm configures these robots and assigns the group of robots a particular task from a set of available tasks. Two major tasks have been introduced that show the performance of a robotic group. This robotic group is composed of heterogeneous agents. In the results, a premature example that has prior knowledge about the experiment shows whether or not the robots are able to accomplish the task. View Full-Text
Keywords: heterogeneous swarm agents; reconfigurable robotic agents; dynamic robotic coordination; robotics interactive software; robots deployment environment heterogeneous swarm agents; reconfigurable robotic agents; dynamic robotic coordination; robotics interactive software; robots deployment environment
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Abukhalil, T.; Patil, M.; Patel, S.; Sobh, T. Deployment Environment for a Swarm of Heterogeneous Robots. Robotics 2016, 5, 22.

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