Swarm engineering through quantitative measurement of swarm robotic principles in a 10,000 robot swarm

John Harwell, Maria Gini

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

When designing swarm-robotic systems, systematic comparison of algorithms from different domains is necessary to determine which is capable of scaling up to handle the target problem size and target operating conditions. We propose a set of quantitative metrics for scalability, flexibility, and emergence which are capable of addressing these needs during the system design process. We demonstrate the applicability of our proposed metrics as a design tool by solving a large object gathering problem in temporally varying operating conditions using iterative hypothesis evaluation. We provide experimental results obtained in simulation for swarms of over 10,000 robots.

Original languageEnglish (US)
Title of host publicationProceedings of the 28th International Joint Conference on Artificial Intelligence, IJCAI 2019
EditorsSarit Kraus
PublisherInternational Joint Conferences on Artificial Intelligence
Pages336-342
Number of pages7
ISBN (Electronic)9780999241141
StatePublished - Jan 1 2019
Event28th International Joint Conference on Artificial Intelligence, IJCAI 2019 - Macao, China
Duration: Aug 10 2019Aug 16 2019

Publication series

NameIJCAI International Joint Conference on Artificial Intelligence
Volume2019-August
ISSN (Print)1045-0823

Conference

Conference28th International Joint Conference on Artificial Intelligence, IJCAI 2019
CountryChina
CityMacao
Period8/10/198/16/19

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Harwell, J., & Gini, M. (2019). Swarm engineering through quantitative measurement of swarm robotic principles in a 10,000 robot swarm. In S. Kraus (Ed.), Proceedings of the 28th International Joint Conference on Artificial Intelligence, IJCAI 2019 (pp. 336-342). (IJCAI International Joint Conference on Artificial Intelligence; Vol. 2019-August). International Joint Conferences on Artificial Intelligence.