Effect of Sensory Faults within Robot Swarms
S. Coppens (TU Delft - Electrical Engineering, Mathematics and Computer Science)
RR Venkatesha Prasad – Mentor (TU Delft - Embedded Systems)
Ashutosh Simha – Mentor (TU Delft - Embedded Systems)
Lydia Y. Chen – Graduation committee member (TU Delft - Data-Intensive Systems)
More Info
expand_more
Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.
Abstract
Robotic swarms provide a great many uses within a world increasingly relying on autonomous systems. Alas these swarms are also very vulnerable to faults, even the smallest fault can cripple the performance of a whole swarm. Such a fault could be one of several types; those that have to do with sensors, communication, ... This paper will try to discover the effect that these faults have on the performance of a robotic swarm attempting to complete a specified task, e.g. a multiple destination routing problem or a variant of a foraging task. With the experiments concluded and the data gathered it proved possible to observe correlations between fault and performance, but this dependency heavily changes based on the algorithm used and fault introduced.