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Robust distributed decision-making in robot swarms: Exploiting a third truth state

Research output: ResearchConference contribution

Original languageEnglish
Title of host publication2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017)
Publisher or commissioning bodyInstitute of Electrical and Electronics Engineers
Pages4326-4332
Number of pages7
ISBN (Electronic)9781538626825
ISBN (Print)9781538626832
DOIs
StateE-pub ahead of print - 14 Dec 2017

Publication series

Name
ISSN (Print)2153-0866

Abstract

In this paper, we investigate the best-of-n distributed decision problem in robot swarms. In this context, we compare the weighted voter model with a three-valued model that incorporates an intermediate belief state meaning either 'uncertain' or 'indifferent'. We focus particularly on the trade-off between speed of convergence to a shared belief, and robustness to the presence of unreliable individuals in the population. By means of both simulation and embodied experiments in real robot swarms of 400 Kilobots, we show that the three-valued model is much more robust than the weighted voter model, but with decreased speed of convergence.

    Research areas

  • best-of-n, decision-making, distributed, decentralised, swarm, robotics, three-valued

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  • Full-text PDF (accepted author manuscript)

    Rights statement: This is the author accepted manuscript (AAM). The final published version (version of record) is available online via IEEE at http://ieeexplore.ieee.org/document/8206297 . Please refer to any applicable terms of use of the publisher.

    Accepted author manuscript, 12 MB, PDF-document

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