fordyca
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jharwell
Recursive task allocation approach to foraging in swarm robotics. ARGoS and ROS.
Lerman2003 defines a MC amenable model for robots WITH memory, which could then be used in discrete different equations to help model the average swarm state for more complex controllers...
Comparing the CRW angle bias in various ways could be useful: - A static angle bias: how does changing the bias change performance ? - A dynamic angle bias: how...
Given COSM#138, use the noise covariance matrix as an input into task allocation; i.e., if a sensor type is failing, try a different task which does not use it as...
Apply r-robustness in non-communication contexts (eg sparse swarms) to see how malicious robot ACTIONS could mislead the swarm. The inversity of the sparsity matrix (swap 0 -> 1) would be...
Usage policies: - First come first serve with crowding (kind of like the nest behavior now with dropping blocks). - Robots periodically visit a station totop offf their battery, so...
- Investigate using Control Barrier Functions (CBFs) to guarantee that robots always have enough power to get to a charge station/the nest for long running tasks. The theory on these...
Basically oracular injection, but according to some waveform, simulating a human supervisor who updates the swarm occasionally/regularly with perfect knowledge. Would be interesting to see how this compares to perfect...
Investigate using Control Barrier Functions (CBFs) to guarantee properties of self-organized task allocation, such as no cache depletion. Well maybe not guarantee, because robots would have to estimate if they...
Each robot would attempt to estimate the current state of the swarm (what robots were doing what), and calculate the current energy expenditure vs. how much food is being brought...
This would allow you to have 2 sources, that would alternatively become depletable/depleted in time. Would be an EXCELLENT measure of swarm adaptibility/reactivity. See also COSM#135.