A macroscopic model for high intensity radiofrequency signal detection in swarm robotics systems

Please use this identifier to cite or link to this item: http://hdl.handle.net/10045/39263
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Title: A macroscopic model for high intensity radiofrequency signal detection in swarm robotics systems
Authors: Aznar Gregori, Fidel | Pujol López, María José | Sempere Tortosa, Mireia Luisa | Rizo, Ramón
Research Group/s: Informática Industrial e Inteligencia Artificial
Center, Department or Service: Universidad de Alicante. Departamento de Ciencia de la Computación e Inteligencia Artificial | Universidad de Alicante. Departamento de Matemática Aplicada
Keywords: Macroscopic mathematical model | Swarm robotic system | Resource location
Knowledge Area: Ciencia de la Computación e Inteligencia Artificial | Matemática Aplicada
Issue Date: 2014
Publisher: Taylor & Francis
Citation: International Journal of Computer Mathematics. 2014, 91(1): 32-41. doi:10.1080/00207160.2013.771180
Abstract: In recent years, there has been a growing interest in resource location in unknown environments for robotic systems, which are composed of multiple simple robots rather than one highly capable robot [M. Sempere, F. Aznar, M. Pujol, and R. Rizo, On cooperative swarm foraging for simple, non explicitly connected, agents, 2010]. This tradeoff reduces the design and hardware complexity of the robots and removes single point failures, but adds complexity in algorithm design. The challenge is to programme a swarm of simple robots, with minimal intercommunication and individual capability, to perform a useful task as a group. This paper is focused on finding the highest intensity area of a radiofrequency (RF) signal in urban environments. These signals are usually more intense near the city centre and its proximity, since in these zones the risk of signal saturation is high. RF radiation (RFR) is boosted or blocked mainly depending on orography or building structures. RF providers need to supply enough coverage, setting up different antennas to be able to provide a minimum quality of service. We will define a micro/macroscopic mathematical model to efficiently study a swarm robotic system, predict their long-term behaviour and gain insight into the system design. The macroscopic model will be obtained from Rate Equations, describing the dynamics of the swarm collective behaviour. In our experimental section, the Campus of the University of Alicante will be used to simulate our model. Three RFR antennas will be taken into account, one inside our Campus and the other two in its perimeter. Several tests, that show the convergence of the swarm towards the RFR, will be presented. In addition, the obtained RFR maps and the macroscopic behaviour of the swarm will be discussed.
Sponsor: This work has been supported by the Spanish Ministerio de Ciencia e Innovación, project TIN2009-10581.
URI: http://hdl.handle.net/10045/39263
ISSN: 0020-7160 (Print) | 1029-0265 (Online)
DOI: 10.1080/00207160.2013.771180
Language: eng
Type: info:eu-repo/semantics/article
Rights: © 2013 Taylor & Francis. This is an Author's Original Manuscript of an article published by Taylor & Francis Group in International Journal of Computer Mathematics on 19 Mar 2013, available online: http://www.tandfonline.com/10.1080/00207160.2013.771180
Peer Review: si
Publisher version: http://dx.doi.org/10.1080/00207160.2013.771180
Appears in Collections:INV - i3a - Artículos de Revistas

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