Achieving Consensus in Robot Swarms

Design and Analysis of Strategies for the best-of-n Problem

By: Gabriele Valentini

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Paperback | 4 May 2018

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Paperback
162 Pages

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23.5 x 15.5 x 0.89

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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 identiﬁes 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 ﬁnite set when optimizing beneﬁts and costs. The book leverages the identiﬁcation 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, usingrobot experiments to show how the designed strategies can be ported to different application scenarios.

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