A Novel Foraging Technique for Swarm Robots

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IEEE Buenaventura Section

Central place foraging is a problem domain which consists of finding and delivering resources situated throughout an unknown environment to a singular collection depot. This domain has tremendous applications including harvesting, toxic waste clean up, and fuel gathering for interplanetary missions. Foraging behaviors are the primary benchmark application of swarm robotics, which is the study of the complex group behavior that emerges from the local interactions of many simple individuals. A common issue within central place foraging approaches is inter-robot interference, a significant detractor from scalable group performance. To address this problem we propose a novel technique for central place foraging, the Multimodal approach. This technique separates a preliminary search phase from collection behavior, locating all of the resources within the environment before any are picked up, storing and sharing these locations amongst all of the agents. This information is then used by the collecting agents in order to select resources in areas in which there are no other agents, mitigating the effect of interference. The application of this approach to various simulated problem formulations resulted in a significant performance increase as compared to a baseline approach. This lends to our conclusion that a separation of search and collection can lead to the incorporation of more advanced routing techniques that further improve the performance of the foraging task.
About the Speaker Nick Stern is a Lecturer for Computer Science and Mechatronics at California State University Channel Islands. Nick currently teaches Software Engineering as well as Data Structures and Algorithms for Engineers, and also spends his time coaching more than a dozen senior Capstone projects. He works in a range of programming archetypes and tools, from high level frameworks for AWS and Android projects to low level Embedded and C systems. Nick has a Master's and Bachelor's of Science from CSUCI. You can contact him on LinkedIn at <A HREF="https://www.linkedin.com/in/nickdolanstern/" TARGET="_blank" DATA-MSYS-CLICKTRACK="0" REL="nofollow noopener noreferrer">https://www.linkedin.com/in/nickdolanstern/</A>.
Agenda Pizza/Refreshments: 6:30 PM Meeting: 7:00 PM
Location La Reina High School, Library 106 West Janss Road Thousand Oaks, CA 91360 (<A HREF="http://www.ieee-bv.org/maps/lareina" TARGET="_blank" DATA-MSYS-CLICKTRACK="0" REL="nofollow noopener noreferrer">map</A>) Presented by: IEEE Buenaventura Computer Society Chapter

A Novel Foraging Technique for Swarm Robots

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A Novel Foraging Technique for Swarm Robots

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