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.
