Multi-Robot Systems

Abstract

Multi-robot systems (MRS) are becoming one of the most important areas of research in Robotics, due to the challenging nature of the involved research and to the multiple potential applications to areas such as autonomous sensor networks, building surveillance, transportation of large objects, air and underwater pollution monitoring, forest fire detection, transportation systems, or search and rescue after large-scale disasters. Even problems that can be handled by a single multi-skilled robot may benefit from the alternative usage of a robot team, since robustness and reliability can often be increased by combining several robots which are individually less robust and reliable [3]. One can find similar examples in human work: several people in line are able to move a bucket, from a water source to a fire, faster and with less individual effort. Also, if one or more of the individuals leaves the team, the task can still be accomplished by the remaining ones, even if slower than before. Another example is the surveillance of a large area by several people. If adequately coordinated, the team is able to perform the job faster and with reduced cost than a single person carrying out all the work, especially if the cost of moving over large distances is prohibitive. A larger rank of task domains, distributed sensing and action, and insight into social and life sciences are other advantages that can be brought by the study and use of MRS [22].