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All Journal Journal of Robotics and Control (JRC)
Thomas Hanne
University of Applied Sciences and Arts Northwestern Switzerland
Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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Improving Collision Avoidance Behavior of a Target-Searching Algorithm for Kilobots Alexander Horst; Egemen Kaba; Rolf Dornberger; Thomas Hanne
Journal of Robotics and Control (JRC) Vol 2, No 6 (2021): November
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.26141

Abstract

Collision avoidance in the area of swarm robotics is very important. The lacking ability of such collision avoidance is mentioned as one important reason for the sparse distribution of the small test robots named Kilobots. In this research paper, two new algorithms providing a collision avoidance strategy are presented and compared with previous research results. The first algorithm uses randomness to decide which one of several approaching Kilobots are stopped for a defined time before starting to move again. The second algorithm tries   to determine the assumed position of approaching Kilobots based on its radio signal strength and then to move away in the opposite direction by rotation. The results, especially of the second algorithm, are promising as the number of collisions can be significantly reduced.
Discussing the Reality Gap by Comparing Physics Engines in Kilobot Simulations Andreas Meier; Sascha Carroccio; Rolf Dornberger; Thomas Hanne
Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.25120

Abstract

The difference between real experiments and their simulated counterparts, the so-called reality gap, is dependent on various factors and a challenging issue for every simulation-based robot experiment. The reality gap in robot experiments is often caused by software, which is not always able to sufficiently capture particular details and process them properly. In order to minimize this difference, this paper strives to assess different simulation physics engines in V-REP, the simulation framework for the Kilobot swarm robots. The outcome of the simulation software adaption is based on a unified multi robot experiment applied to Kilobots. This paper proposes a simulation attitude, which reflects the outcomes of a real world experiment with Kilobots accurately.
Co-Authors Alexander Horst Andreas Meier Egemen Kaba Rolf Dornberger Sascha Carroccio