Collective perception for tracking people with a robot swarm
<|reference_start|>Collective perception for tracking people with a robot swarm: Swarm perception refers to the ability of a robot swarm to utilize the perception capabilities of each individual robot, forming a collective understanding of the environment. Their distributed nature enables robot swarms to continuously monitor dynamic environments by maintaining a constant presence throughout the space.In this study, we present a preliminary experiment on the collective tracking of people using a robot swarm. The experiment was conducted in simulation across four different office environments, with swarms of varying sizes. The robots were provided with images sampled from a dataset of real-world office environment pictures.We measured the time distribution required for a robot to detect a person changing location and to propagate this information to increasing fractions of the swarm. The results indicate that robot swarms show significant promise in monitoring dynamic environments.<|reference_end|>
@article{kegeleirs2024collective,
    title={Collective perception for tracking people with a robot swarm},
    author={Miquel Kegeleirs, David Garz'on Ramos, Guillermo Legarda Herranz,
  Ilyes Gharbi, Jeanne Szpirer, Olivier Debeir, Ken Hasselmann, Lorenzo
  Garattoni, Gianpiero Francesca, and Mauro Birattari},
    journal={arXiv preprint arXiv:2410.06720},
    year={2024},
    archivePrefix={arXiv},
    eprint={2410.06720},
    primaryClass={cs.RO}
}