Heterogeneous and homogeneous robot group behavior

Abstract

they belong to. It can therefore impact all of the previous issues. Our research begins to explore some of these issues by implementing a hoarding task. The task requires the robots to search an 11 by 14 foot enclosure for pucks (small metal cylinders), collect them and bring them to a particular corner designated as Home (see figures). For this experiment we use four identical IS Robotics R2e robots. One experiment is with a homogeneous group. All of the robots are behaviorally identical (i.e. they belong to the same class) and there is no explicit communication between them. Each robot searches for pucks Home Buffer Boundary 11 feet 14 feet ultrasonic emitter ultrasonic emitter Homogeneous Collecting of Scattered Pucks (a) Home Buffer Boundary 11 feet 14 feet ultrasonic emitter ultrasonic emitter Heterogeneous Collecting of Scattered Pucks Robot that remains near Home Drop pucks