Two dimensional swarming: Neighbour detection
J.S. van Uffelen (TU Delft - Electrical Engineering, Mathematics and Computer Science)
L. de Kroon (TU Delft - Electrical Engineering, Mathematics and Computer Science)
Rangarao Venkatesha Prasad – Mentor (TU Delft - Embedded Systems)
A. Simha – Mentor (TU Delft - Embedded Systems)
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Abstract
Robot swarming has been done for quite some years now. However, creating a very large swarm can become very difficult, since the networking becomes complex. With small swarms, a robot can broadcast information, or a central node can coordinate the robots. However, when a swarm becomes very large, these techniques fall short. Broadcasting all information is too much to be evaluated by every single robot, and a central node can't control it as well.
In this research, we have looked at how nature works and tried to find a solution by mimicking its behaviour. In nature, animals stay in a swarm, based on their instinct combined with following their neighbours' behaviour.
This document is part of a bigger research which implements a bird-flocking algorithm with cars. For bird-flocking, the speed and heading of neighbours need to be known. Detection of neighbours with robots is technically challenging.
We have researched a way to detect neighbours based on a hardware filter based on RSSI, in combination with a software filter.