Robot Teamwork: Active and Passive Search Algorithms. Separate Issues of Management in Swarm Robotics

摘要

This work investigates the possibility of adapting the tandem running algorithm to implement teamwork of a swarm of robots. It is shown that the application of teamwork algorithms, which ensure closer interaction of individual units of a swarm of robots, can increase the efficiency of the swarm of robots. Two alternative algorithms for assembling a command for the delivery of a detected resource unit are proposed - an active search algorithm and a passive search algorithm - which can be used in combination with the tandem running algorithm. It was found that at short distances from the base, the passive search algorithm is more effective than the alternative active search algorithm. However, as the distance from the base increases, the time to collect the delivery team using the passive search algorithm increases non-linearly, and the active search algorithm becomes more efficient.