MOSES lab sensor swarming

This is a sensing task done with a group of sensing agents. A "leader" agent leading a group of "follower" agents goes along the waypoints until the target is reached. Then the group of followers will swarm around the target and senses potential contaminant (water). When contaminant is found, the agent stops and collects data for some time before it moves around again. After the task is over, the leader agent bring all the follower agents back home base.

The navigation algorithm is solely based on physical potential fields generated by Zigbee communication beacons - neither GPS nor other navigation aids were used.

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Howto & Style

Tags:

• sensor
• network
• swarm
• algorithm
• communication
• robotics