Quantitative Assessment of Robotic Swarm Coverage

DOI10.5220/0006844600910101MaRDI QIDQ6089041zbMATH OpenOpenAlexFDO

Authors

Publication date 17 November 2023

Published in Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1806.02488, https://escholarship.org/uc/item/7rz9z3w9

zbMATH Keywords

central limit theoremcoveragemulti-agent systemsoptimizationswarm robotics

Mathematics Subject Classification ID

Central limit and other weak theorems (60F05) Automated systems (robots, etc.) in control theory (93C85)

Abstract: This paper studies a generally applicable, sensitive, and intuitive error metric for the assessment of robotic swarm density controller performance. Inspired by vortex blob numerical methods, it overcomes the shortcomings of a common strategy based on discretization, and unifies other continuous notions of coverage. We present two benchmarks against which to compare the error metric value of a given swarm configuration: non-trivial bounds on the error metric, and the probability density function of the error metric when robot positions are sampled at random from the target swarm distribution. We give rigorous results that this probability density function of the error metric obeys a central limit theorem, allowing for more efficient numerical approximation. For both of these benchmarks, we present supporting theory, computation methodology, examples, and MATLAB implementation code.

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(2)

• A robust-adaptive fuzzy coverage control for robotic swarms
• Collective motion planning for a group of robots using intermittent diffusion

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