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A Distributed Framework and Consensus Middle-Ware for Human Swarm Interaction

A Distributed Framework and Consensus Middle-Ware for Human Swarm Interaction

Ghazaleh Pour Sadrollah, Jan Carlo Barca, Jens Eliasson, Asad I. Khan
Copyright: © 2020 |Pages: 29
ISBN13: 9781799817543|ISBN10: 1799817547|EISBN13: 9781799817550
DOI: 10.4018/978-1-7998-1754-3.ch025
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MLA

Pour Sadrollah, Ghazaleh, et al. "A Distributed Framework and Consensus Middle-Ware for Human Swarm Interaction." Robotic Systems: Concepts, Methodologies, Tools, and Applications, edited by Information Resources Management Association, IGI Global, 2020, pp. 475-503. https://doi.org/10.4018/978-1-7998-1754-3.ch025

APA

Pour Sadrollah, G., Barca, J. C., Eliasson, J., & Khan, A. I. (2020). A Distributed Framework and Consensus Middle-Ware for Human Swarm Interaction. In I. Management Association (Ed.), Robotic Systems: Concepts, Methodologies, Tools, and Applications (pp. 475-503). IGI Global. https://doi.org/10.4018/978-1-7998-1754-3.ch025

Chicago

Pour Sadrollah, Ghazaleh, et al. "A Distributed Framework and Consensus Middle-Ware for Human Swarm Interaction." In Robotic Systems: Concepts, Methodologies, Tools, and Applications, edited by Information Resources Management Association, 475-503. Hershey, PA: IGI Global, 2020. https://doi.org/10.4018/978-1-7998-1754-3.ch025

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Abstract

A swarm of robots can perform a variety of missions that are time critical, cost sensitive, and too complicated for a single individual to undertake. In this context, the ability to design robust, scalable and flexible collective behaviours, for the coordination of large numbers of robots to complete particular tasks specified by a human operator, is crucial. For human swarm interaction, it is critical for the robots to be able to continuously achieve swarm's consent to perform tasks specified by a human operator in a dynamically changing environment. Furthermore, an appropriate quorum threshold should be defined as a variable determining the system's behaviour, which is beneficial in environments where stable connectivity might be an issue. These challenges therefore justify this research into designing a group decision-making process such as consensus algorithm for managing swarms of flying robots by considering various circumstances including battery limitations of the robots, possible node failures, and utilising appropriate sensory vision distance.

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