A FRAMEWORK for MULTI-ROBOT COORDINATION

Abstract

This report is a study of multi-robot systems. The advantage multi-robot systems pose over single-robot systems both in terms of environmental presence, cost, robustness and redundancy. This report also discusses the importance of coordination in multi-robot system among the robots. Both heterogeneous and homogeneous multi-robot systems are discussed and a homogeneous multi-robot system is also implemented and discussed in detail. The types of coordination and their incredible importance to improve the per- formance of multi-robot systems is also discussed. The additional over head of messaging in case of explicit coordination and sensing other robots in addition to environment in case of implicit coordination are meager when compared to improved performance or the ability to perform tasks impossible by single agent systems to do. An e ort has been put to learn more about multi-robot systems by trying to actually program their action from small single-robot systems to heterogeneous multi-agent systems with explicit coordination. ARGoS simulator has been used to evaluate our programs correctness and e ectiveness.