@inproceedings{2e77bc5a0c18428f9b91885a1b3b7848,
title = "Dynamic task partitioning for foraging robot swarms",
abstract = "Dead reckoning error is a common problem in robotics that can be caused by multiple factors related to sensors or actuators. These errors potentially cause landmarks recorded by a robot to appear in a different location with respect to the actual position of the object. In a foraging scenario with a swarm of robots, this error will ultimately lead to the robots being unable to return successfully to the food source. In order to address this issue, we propose a computationally low-cost finite state machine strategy with which robots divide the total travelling distance into a variable number of segments, thus decreasing accumulated dead-reckoning error. The distance travelled by each robot changes according to the success and failure of exploration. Our approach is more flexible than using a previously used fixed size approach for the travel distance, thus allowing swarms greater flexibility and scaling to larger areas of operation.",
keywords = "Fault tolerance, Foraging, Swarm robotics, Task partitioning",
author = "Edgar Buchanan and Andrew Pomfret and Jon Timmis",
year = "2016",
doi = "10.1007/978-3-319-44427-7_10",
language = "English",
isbn = "9783319444260",
volume = "9882 LNCS",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer",
pages = "113--124",
booktitle = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
address = "Germany",
note = "10th International Conference on Swarm Intelligence, ANTS 2016 ; Conference date: 07-09-2016 Through 09-09-2016",
}