EAN: 9783319536088

ACHIEVING CONSENSUS IN ROBOT SWARMS - GABRIELE ...

This book focuses on the design and analysis of collective decision-making strategies for the
best-of-n problem. After providing a formalization of the structure of the best-of-n problem
supported by a comprehensive survey of the swarm robotics literature  it introduces the
functioning of a collective decision-making strategy and identi¿es a set of mechanisms that are
essential for a strategy to solve the best-of-n problem. The best-of-n problem is an
abstraction that captures the frequent requirement of a robot swarm to choose one option from
of a ¿nite set when optimizing bene¿ts and costs. The book leverages the identi¿cation of these
mechanisms to develop a modular and model-driven methodology to design collective
decision-making strategies and to analyze their performance at different level of abstractions.
Lastly  the author provides a series of case studies in which the proposed methodology is used
to design different strategies  using robot experiments to show how the designed strategies can
be ported to different application scenarios.

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