Optimization and Evaluation of a Multi Robot Surface Inspection Task Through Particle Swarm Optimization

Darren Chiu*, Radhika Nagpal, Bahar Haghighat

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

1 Citation (Scopus)

Abstract

Robot swarms can be tasked with a variety of automated sensing and inspection applications in aerial, aquatic, and surface environments. In this paper, we study a simplified two-outcome surface inspection task. We task a group of robots to inspect and collectively classify a 2D surface section based on a binary pattern projected on the surface. We use a decentralized Bayesian decision-making algorithm and deploy a swarm of 3-cm sized wheeled robots to inspect a randomized black and white tiled surface section of size 1m×1m in simulation. We first describe the model parameters that characterize our simulated environment, the robot swarm, and the inspection algorithm. We then employ a noise-resistant heuristic optimization scheme based on the Particle Swarm Optimization (PSO) using a fitness evaluation that combines the swarm's classification decision accuracy and decision time. We use our fitness measure definition to asses the optimized parameters through 100 randomized simulations that vary surface pattern and initial robot poses. The optimized algorithm parameters show up to 55% improvement in median of fitness evaluations against an empirically chosen parameter set.

Original languageEnglish
Title of host publication2024 IEEE International Conference on Robotics and Automation, ICRA 2024
PublisherIEEE
Pages8996-9002
Number of pages7
ISBN (Electronic)979-8-3503-8457-4
ISBN (Print)979-8-3503-8458-1
DOIs
Publication statusPublished - 2024
Event2024 IEEE International Conference on Robotics and Automation, ICRA 2024 - Yokohama, Japan
Duration: 13-May-202417-May-2024

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2024 IEEE International Conference on Robotics and Automation, ICRA 2024
Country/TerritoryJapan
CityYokohama
Period13/05/202417/05/2024

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