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1.INTRODUCTION
Swarm robotics is the study of how large number of relatively simple physically embodied agents can be designed such that a desired collective behavior emerges from the local interactions among agents and between the agents and the environment. It is a novel approach to the coordination of large numbers of robots. It is inspired from the observation of social insects ---ants, termites, wasps and bees--- which stand as fascinating examples of how a large number of simple individuals can interact to create collectively intelligent systems.
Social insects are known to coordinate their actions to accomplish tasks that are beyond the capabilities of a single individual: termites build large and complex mounds, army ants organize impressive foraging raids, ants can collectively carry large preys. Such coordination capabilities are still beyond the reach of current multi-robot systems.
As robots become more and more useful, multiple robots working together on a single task will become common place. Many of the most useful applications of robots are particularly well suited to this “swarm” approach. Groups of robots can perform these tasks more efficiently, and can perform them in fundamentally difficult to program and co-ordinate.
Swarm robots are more than just networks of independent agents, they are potentially reconfigurable networks of communicating agents capable of coordinated sensing and interaction with the environment.
2.EVOLUTION OF SWARM Biological basis and artificial life)
Researchers try to examine how collections of animals, such as flocks, herds and schools, move in a way that appears to be orchestrated. A flock of birds moves like a well choreographed dance troupe. They veer to the left in unison, then suddenly they may all dart to the right and swoop down towards the ground. How can they coordinate their actions so well? In 1987, Reynolds created a “boid” model, which is a distributed behavioral model, to simulate on a computer the motion of a flock of birds. Each boid is implemented as an independent actor that navigates according to its own perception of the dynamic environment. A boid must observe the following rules. First, the “avoidance rule” says that a boid must move away from boids that are too close so as to reduce the chance of in-air collisions. Second, the “copy rule” says a boid must fly in the general direction that the flock is moving by averaging the other boids’ velocities and directions. Third, “the center rule” says that a boid should minimize exposure flock’s exterior by moving toward the perceived center of the flock. Flake added a fourth rule, “view” that indicates that a boid should move laterally away from any boid that blocks its view. This boid model seems reasonable if we consider it from another point of view, that of it acting according to attraction and repulsion between neighbors in a flock. The repulsion relationship results in the avoidance of collisions and attraction makes the flock keep shape, i.e., copying movements of neighbors can be seen as a kind of attraction. The centre rule plays a role in both attraction and repulsion. The swarm behavior of the simulated flock is the result of the dense interaction of the relatively simple behaviors of the individual boids.
3.WORKING OF SWARM :
3.1Swarm Intelligence:
Swarm intelligence describes the way that complex behaviors can arise from large numbers of individual agents each following very simple rules. For example, ants use the approach to find the most efficient route to the food source.Individual ants do nothing more than follow the strongest pheromone trail left by other ants. But, by repeated process of trial and error by many ants, the best route to the food is quickly revealed.
3.2. Software from insects:
Local interactions between nearby robots are being used to produce large scale group behaviors from the entire swarm. Ants , bees and termites are beautifully engineered examples of this kind of software in use. These insects do not use centralized communication; there is no strict hierarchy, and no one in charge.
However, developing swarm software from the “top down”, i.e., by starting with the group application and trying to determine the individual behaviors that it arises from, is very difficult. Instead a “group behavior building blocks” that can be combined to form larger, more complex applications are being developed. The robots use these behaviors to communicate, cooperate, and move relative to each other. Some behaviors are simple, like following, dispersing, and counting. Some are more complex, like dynamic task assignment, temporal synchronization, and gradient tree navigation. There are currently about forty of these behaviors. They are designed to produce predictable outcomes when used individually, are when combined with other library behaviors, allowing group applications to be constructed much more easily.
3.3. Particle swarm Optimization:
Particle swarm optimization or PSO is a global optimization algorithm for dealing with problems in which a best solution can be represented as a point or surface in an n-dimensional space. Hypotheses are plotted in this space and seeded with an initial velocity, as well as a communication channel between the particles. Particles then move through the solution space, and are evaluated according to some fitness criterion after each time step. Over time, particles are accelerated towards those particles within their communication grouping which have better fitness values. The main advantage of such an approach over other global minimization strategies such as simulated annealing is that the large numbers of members that make up the particle swarm make the technique impressively resilient to the problem of local minima.
In near future, it may be possible to produce and deploy large numbers of inexpensive, disposable, meso-scale robots. Although limited in individual capability, such robots deployed in large numbers can represent a strong cumulative force similar to a colony of ants or swarm of bees.
4.TYPES OF SWARM:
4.1.Modular Robots:
A module is essentially a small, relatively simple robot or piece of a robot. Modular robots are made of lots of these small, identical modules. A modular robot can consist of a few modules or many, depending on the robot’s design and the task it needs to perform. Some modular robots currently exist only as computer simulations; others are still in the early stages of development. But they all operate on the same basic principle- lots of little robots can combine to create one big one.
Modules can’t do much by themselves. A reconfiguring system also has to have:
Connections between the modules
Systems that govern how the modules move in relation to one another.
Most modular, reconfiguring robots fit into one of the three categories: chain, lattice and modular configuration.
4.2. Chain robots :
Chain robots are long chains that can connect to one another at specific points. Depending on the number of chains and where they connect, these robots can resemble snakes or spiders. They can also become rolling loops or bipedal, walking robots. A set of modular chains could navigate an obstacle course by crawling through a tunnel as a snake, crossing rocky terrain as a spider and riding a tricycle across a bridge as a biped. Examples of chain robots are Palo Alto Research Center’s (PARC) Polybot and Polypod and NASA’s snakebot. Most need a human or, in theory, another robot, to manually secure the connections with screws.