期刊
TOWARDS AUTONOMOUS ROBOTIC SYSTEMS, TAROS 2022
卷 13546, 期 -, 页码 92-104出版社
SPRINGER INTERNATIONAL PUBLISHING AG
DOI: 10.1007/978-3-031-15908-4_8
关键词
Swarm robotics; Exploration; Collective motion; Extreme environments
资金
- EPSRC [EP/R026084/1, EP/P01366X/1]
This paper investigates the application of swarm robotics in monitoring nuclear waste storage facilities. By utilizing the active elastic sheet model and low-cost autonomous micro-surface robots, we implemented the task of exploring unknown areas. Although the accuracy of path planning was not very high, we demonstrated the feasibility of using a low-cost robotic platform for this new application.
Swarm robotics is a decentralised mechanism used to coordinate a large group of simple robots. An exploration task means fully scanning an unknown area using a large number of robotic swarms. It has great potential for use in many real-world applications, such as monitoring extreme environments. Although there are many research studies on swarm exploration, the real-world scenarios of the swarm algorithm have not been fully investigated. This paper proposes a new application scenario for swarm exploration to monitor nuclear waste storage facilities. To coordinate the robotic swarm, the active elastic sheet model was utilised, which is a bio-inspired collective motion mechanism. We implemented the exploration scenario in a wet storage facility using a swarm of low-cost autonomous micro-surface robots, Bubbles. We developed a realistic kinematic model of the Bubble platform and implemented the exploration scenario using large swarm sizes. This paper showed the feasibility of using a low-cost robotic platform for this new application, although the accuracy of the path planning was not very high.
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