Optimziation Methods for Beacon Based Foraging Algorithms
Beacon-based Robotic foraging is inspired by nature’s ability to create efficient explorers and gatherers, and imposes a number of constraints on how agents can interact. In decentralized models, the robots must maintain chains of communication, effectively explore areas, and start collecting from discovered targets. Previous approaches have used a beacon-based technique, which is dependent on swarm size to environment size ratios, and do not have guarantees on finding all targets. This paper outlines the issues in these approaches and offers solutions to finding targets reliably, robust task allocations, and efficient beacon network. We verify our techniques by providing metrics of successful swarm size to environment size ratios, robot congestion improvement, and target utility independent measurements for gathering.
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