Abstract Trianni: Random walks in swarm robotics
Random walks represent fundamental search strategies for both animal
and robots, especially when there are no environmental cues that can
drive motion, or when the cognitive abilities of the searching agent
do not support complex localisation and mapping behaviours. In swarm
robotics, random walks are basic building blocks for the emergent
collective behaviour. However, there has been limited account for the
correct parameterisation to be used in different search scenarios, and
the relationship between search efficiency and information transfer
within the swarm has been often overlooked. In this talk, I will
present a systematic analysis of different mobility patterns for robot
swarms, including Brownian motion and Levy walks, which are evaluated
for the ability to find an immobile target and to spread widely
information about the target within the swarm. Then, we present two
case studies in which the mobility pattern plays a major role: a
consensus decision problem and a coverage and mapping problem. We show
that the choice of the correct parameters for the random walk is key
to the attainment of efficient swarm robotics solutions.