A Review: Pattern Formation and Adaptation in Multi-Robot Systems

Erkin Bahceci, Onur Soysal, and Erol Sahin
tech. report CMU-RI-TR-03-43, Robotics Institute, Carnegie Mellon University, October, 2003


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Abstract
Recent advances in robotics have started making it feasible to deploy large numbers of inexpensive robots for tasks such as surveillance and search. However, coordination of multiple robots to accomplish such tasks remains a challenging problem. This report reviews some of the recent literature in multi-robot systems. It consists of two parts. In the rst part, we reviewed the studies on the pattern formation problem, that is how can a group of robots be controlled to get into and maintain a formation. The second part reviews the studies that used adaptation strategies in controlling multirobot systems. Specically we have investigated (1) how learning (life-long adaptation) is used to make multi-robot systems respond to changes in the environment as well in the capabilities of individual robots, and (2) how evolution is used to generate group behaviors.

Keywords
multi-robot systems, pattern formation, adaptation, learning, evolution

Notes
Associated Center(s) / Consortia: National Robotics Engineering Center
Associated Lab(s) / Group(s): Advanced Mechatronics Lab
Number of pages: 11

Text Reference
Erkin Bahceci, Onur Soysal, and Erol Sahin, "A Review: Pattern Formation and Adaptation in Multi-Robot Systems," tech. report CMU-RI-TR-03-43, Robotics Institute, Carnegie Mellon University, October, 2003

BibTeX Reference
@techreport{_2003_4534,
   author = "Erkin Bahceci and Onur Soysal and Erol Sahin",
   title = "A Review: Pattern Formation and Adaptation in Multi-Robot Systems",
   booktitle = "",
   institution = "Robotics Institute",
   month = "October",
   year = "2003",
   number= "CMU-RI-TR-03-43",
   address= "Pittsburgh, PA",
}