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Rodrigues, T., Duarte, M., Oliveira, S. & Christensen, A. (2015). Beyond onboard sensors in robotic swarms: Local collective sensing through situated communication. In Stephane Loiseau, Joaquim Filipe (Ed.), ICAART 2015: Proceedings of the International Conference on Agents and Artificial Intelligence. Lisboa: SCITEPRESS.

T. Rodrigues et al.,  "Beyond onboard sensors in robotic swarms: Local collective sensing through situated communication", in ICAART 2015: Proc. of the Int. Conf. on Agents and Artificial Intelligence, Stephane Loiseau, Joaquim Filipe, Ed., Lisboa, SCITEPRESS, 2015, vol. 2

@inproceedings{rodrigues2015_1730780503294,
	author = "Rodrigues, T. and Duarte, M. and Oliveira, S. and Christensen, A.",
	title = "Beyond onboard sensors in robotic swarms: Local collective sensing through situated communication",
	booktitle = "ICAART 2015: Proceedings of the International Conference on Agents and Artificial Intelligence",
	year = "2015",
	editor = "Stephane Loiseau, Joaquim Filipe",
	volume = "2",
	number = "",
	series = "",
	publisher = "SCITEPRESS",
	address = "Lisboa",
	organization = "INSTICC",
	url = "https://icaart.scitevents.org/?y=2015"
}

TY  - CPAPER
TI  - Beyond onboard sensors in robotic swarms: Local collective sensing through situated communication
T2  - ICAART 2015: Proceedings of the International Conference on Agents and Artificial Intelligence
VL  - 2
AU  - Rodrigues, T.
AU  - Duarte, M.
AU  - Oliveira, S.
AU  - Christensen, A.
PY  - 2015
CY  - Lisboa
UR  - https://icaart.scitevents.org/?y=2015
AB  - The constituent robots in swarm robotics systems are typically equipped with relatively simple, onboard sensors of limited quality and range. When robots have the capacity to communicate with one another, communication has so far been exclusively used for coordination. In this paper, we present a novel approach in which
local, situated communication is leveraged to overcome the sensory limitations of the individual robots. In
our approach, robots share sensory inputs with neighboring robots, thereby effectively extending each other’s
sensory capabilities. We evaluate our approach in a series of experiments in which we evolve controllers for
robots to capture mobile preys. We compare the performance of (i) swarms that use our approach, (ii) swarms
in which robots use only their limited onboard sensors, and (iii) swarms in which robots are equipped with
ideal sensors that provide extended sensory capabilities without the need for communication. Our results show
that swarms in which local communication is used to extend the sensory capabilities of the individual robots
outperform swarms in which only onboard sensors are used. Our results also show that in certain experimental
configurations, the performance of swarms using our approach is close to the performance of swarms with
ideal sensors.
ER  -