cc 16(9): e2

Research Article

A Tuple Space for Data Sharing in Robot Swarms

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  • @ARTICLE{10.4108/eai.3-12-2015.2262503,
        author={Carlo Pinciroli and Adam Lee-Brown and Giovanni Beltrame},
        title={A Tuple Space for Data Sharing in Robot Swarms},
        journal={EAI Endorsed Transactions on Collaborative Computing},
        volume={2},
        number={9},
        publisher={ACM},
        journal_a={CC},
        year={2016},
        month={5},
        keywords={swarm robotics, collective robotics, information sharing, stigmergy},
        doi={10.4108/eai.3-12-2015.2262503}
    }
    
  • Carlo Pinciroli
    Adam Lee-Brown
    Giovanni Beltrame
    Year: 2016
    A Tuple Space for Data Sharing in Robot Swarms
    CC
    EAI
    DOI: 10.4108/eai.3-12-2015.2262503
Carlo Pinciroli1,*, Adam Lee-Brown2, Giovanni Beltrame1
  • 1: Polytechnique Montréal
  • 2: Royal Melbourne Institute of Technology
*Contact email: carlo.pinciroli@polymtl.ca

Abstract

In this paper, we present a system to allow a swarm of robots to agree on a set of (key,value) pairs. This system enables a form of information sharing that has the potential to be an asset for coordination in complex environments, such as globally optimized task allocation. Taking inspiration from the environment-mediated communication of social insects, we call the system virtual stigmergy. Experimental evaluation indicates that virtual stigmergy can work in a wide variety of running conditions including heavy packet loss, and can cope with random motion trajectories.