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Simulation of swarm of robots used to explore and search for a target, done using Webots software.

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Welcome to Swarm Exploration and Target Searching repo


Brief Intro :

Description :

This is a simulation project under the title "Swarm Exploration and Target Searching", carried out by 3rd year ECE students of Don Bosco Institute of Technology, Bangalore as a mini project.

Software used : Webots

Robot used : E-Puck

Algorithm used : Depth First Search

Problem statement :

To locate a target in a multi-path (maze like) environment using a swarm of robots that co-ordinate and solve the task effectively.

Practical applications :

In military situations were an Intel or an object of interest has to be located inside an enemy building or in a region affected by radiation, military personnel cannot be deployed. Instead a swarm of robots can be used as they are expendable and helps in locating the object faster when compared to a single robot.

Constraints and Assumptions :

  • The arena is a square arena and it can be of any size.
  • There are no obstacles in the path of the robot.
  • Minimum distance between the walls is 1m.
  • The distance sensors mounted on the robot can only measure upto 0.5m.
  • The way the walls are placed or the expected distance/heuristic distance toward the target... are not given.

Feature of the project :

  • The program is compatible with any size of the arena.
  • More robots can be added by making some changes.
  • Robots do not enter the already explored path.
  • Priority is given based on the robot number to prevent conflict for same positions by multiple robot.
  • Map data collected can be exported to a text file.
  • Based on the exported data or directly from the program, the arena map can be recreated, with the starting positions of the robots and the target location.

Limitations/Drawback :

  • Continuous movement of the robot couldn't be achieved.
  • The communication is centralized.
  • The project is implemented on an existing robot (E-puck) (A better way would be to use a custom built robot).
  • Target detection through camera of the robot is done through in-built 'recognition node' feature of Webots. (A better way would be to use OpenCV)

Wiki : Coming Soon

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Simulation of swarm of robots used to explore and search for a target, done using Webots software.

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