Year: 2024
Type: article
Abstract: Swarm algorithms promise to solve certain problems in large multi-robot systems. The evaluation of large swarms is however challenging as simulations alone often lack some properties of real systems whereas real-world experiments are costly and complex. We present a mixed reality (MR) system that connects simulated and physical robots though a 5G network, facilitating MR experiments to evaluate communication-based swarm algorithms. The effectiveness of the system is demonstrated through extensive experiments with unmanned aerial vehicles. Measurements show that the communication requirements of swarm coordination are well met by 5G but the computing power of the simulation server can be a bottleneck. However, even when the simulation slows down, communication and coordination take place in real time. In conclusion, 5G-enabled MR experiments are a feasible tool for bridging the reality gap in the development and evaluation of robot swarms.
Source: Autonomous Robots
Institutions: Lakeside Labs, University of Klagenfurt
Language: English
Subfield: Mechanical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
Estimated APC paid: $3,690
OpenAlex ID: W4402989274