Effect of sensor and actuator quality on robot swarm algorithm performance

Nicholas Hoff; Robert Wood; Radhika Nagpal

doi:10.1109/IROS.2011.6048205

Effect of sensor and actuator quality on robot swarm algorithm performance

Nicholas Hoff, Robert Wood, Radhika Nagpal

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

10 Scopus citations

Abstract

The performance of a swarm of robots depends on the hardware quality of the robots in the swarm. A swarm of robots with high-quality sensors and actuators is expected to out-perform a swarm of robots with low-quality sensors and actuators. This paper directly investigates the relationship between hardware quality and swarm performance. We take three common components of swarm algorithms (trail following, swarm expansion, and shape formation) and measure how they are affected by two common types of hardware inaccuracy (communication bearing reception error, and movement error) both in simulation and with E-Puck robots. We find that large amounts of both types of hardware error are required before performance appreciably decreases.

Original language	English (US)
Title of host publication	IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publication	Celebrating 50 Years of Robotics
Pages	4989-4994
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2011.6048205
State	Published - 2011
Externally published	Yes
Event	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States Duration: Sep 25 2011 → Sep 30 2011

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Conference

Conference	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Country/Territory	United States
City	San Francisco, CA
Period	9/25/11 → 9/30/11

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2011.6048205

Cite this

Hoff, N., Wood, R., & Nagpal, R. (2011). Effect of sensor and actuator quality on robot swarm algorithm performance. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 4989-4994). Article 6048205 (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048205

@inproceedings{984f367b905c4f6281613399663741f7,

title = "Effect of sensor and actuator quality on robot swarm algorithm performance",

abstract = "The performance of a swarm of robots depends on the hardware quality of the robots in the swarm. A swarm of robots with high-quality sensors and actuators is expected to out-perform a swarm of robots with low-quality sensors and actuators. This paper directly investigates the relationship between hardware quality and swarm performance. We take three common components of swarm algorithms (trail following, swarm expansion, and shape formation) and measure how they are affected by two common types of hardware inaccuracy (communication bearing reception error, and movement error) both in simulation and with E-Puck robots. We find that large amounts of both types of hardware error are required before performance appreciably decreases.",

author = "Nicholas Hoff and Robert Wood and Radhika Nagpal",

year = "2011",

doi = "10.1109/IROS.2011.6048205",

language = "English (US)",

isbn = "9781612844541",

series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "4989--4994",

booktitle = "IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems",

note = "2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 ; Conference date: 25-09-2011 Through 30-09-2011",

}

Hoff, N, Wood, R & Nagpal, R 2011, Effect of sensor and actuator quality on robot swarm algorithm performance. in IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics., 6048205, IEEE International Conference on Intelligent Robots and Systems, pp. 4989-4994, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, United States, 9/25/11. https://doi.org/10.1109/IROS.2011.6048205

Effect of sensor and actuator quality on robot swarm algorithm performance. / Hoff, Nicholas; Wood, Robert; Nagpal, Radhika.
IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. p. 4989-4994 6048205 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Effect of sensor and actuator quality on robot swarm algorithm performance

AU - Hoff, Nicholas

AU - Wood, Robert

AU - Nagpal, Radhika

PY - 2011

Y1 - 2011

N2 - The performance of a swarm of robots depends on the hardware quality of the robots in the swarm. A swarm of robots with high-quality sensors and actuators is expected to out-perform a swarm of robots with low-quality sensors and actuators. This paper directly investigates the relationship between hardware quality and swarm performance. We take three common components of swarm algorithms (trail following, swarm expansion, and shape formation) and measure how they are affected by two common types of hardware inaccuracy (communication bearing reception error, and movement error) both in simulation and with E-Puck robots. We find that large amounts of both types of hardware error are required before performance appreciably decreases.

AB - The performance of a swarm of robots depends on the hardware quality of the robots in the swarm. A swarm of robots with high-quality sensors and actuators is expected to out-perform a swarm of robots with low-quality sensors and actuators. This paper directly investigates the relationship between hardware quality and swarm performance. We take three common components of swarm algorithms (trail following, swarm expansion, and shape formation) and measure how they are affected by two common types of hardware inaccuracy (communication bearing reception error, and movement error) both in simulation and with E-Puck robots. We find that large amounts of both types of hardware error are required before performance appreciably decreases.

UR - http://www.scopus.com/inward/record.url?scp=84455167945&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84455167945&partnerID=8YFLogxK

U2 - 10.1109/IROS.2011.6048205

DO - 10.1109/IROS.2011.6048205

M3 - Conference contribution

AN - SCOPUS:84455167945

SN - 9781612844541

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 4989

EP - 4994

BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11

Y2 - 25 September 2011 through 30 September 2011

ER -

Effect of sensor and actuator quality on robot swarm algorithm performance

Abstract

Publication series

Conference

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this