Work

Distributed spatial awareness for robot swarms

Year: 2025

Type: article

Abstract: Building a distributed spatial awareness within a swarm of locally sensing and communicating robots enables new swarm algorithms. We use local observations by robots of each other and Gaussian belief propagation message passing combined with continuous swarm movement to build a global and distributed swarm-centric frame of reference. With low bandwidth and computation requirements, this shared reference frame allows new swarm algorithms. We characterise the system in simulation and demonstrate two example algorithms, then demonstrate reliable performance on real robots with imperfect sensing.

Source: Autonomous Robots

DOI: 10.1007/s10514-025-10228-1

Authors: Simon Jones, Sabine Hauert

Institutions: University of the West of England, University of Bristol, Bristol Robotics Laboratory

Language: English

Topic: Modular Robots and Swarm Intelligence

Subfield: Mechanical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $3,990

Funders: UK Research and Innovation, HORIZON EUROPE European Research Council