Implementation of Neural Networks in Real-Time Swarm Robotics Applications

Emre Yazici, Hakan Temeltas

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

Abstract

Over the last few decades, significant attention has been devoted to the coordinated motion of swarm systems, which involve multiple autonomous robots. These systems have a range of potential applications, such as creating formations with physical or non-physical bonds, navigating to desired locations while maintaining formation, and preventing collisions. To achieve coordinated motion, recent researches have focused on the potential function method. We previously validated novel potential functions and developed a sliding-mode speed controllers to promote collective behavior. In this study, we implement an accepted neural network with one hidden and one output layer to update potential function weights with decentralized manner in real-time, thereby enhancing swarm behavior for formation creation and maintenance. The effectiveness of this approach is demonstrated through simulation and processor-in-the-loop tests using two different micro-controllers as well as measuring execution time of neural networks' models. By successfully validating neural networks implementation in this context, our study extends the current understanding of swarm behavior and opens up new possibilities for real-time swarm applications.

Original languageEnglish
Title of host publication2023 IEEE International Conference on Systems, Man, and Cybernetics
Subtitle of host publicationImproving the Quality of Life, SMC 2023 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4979-4984
Number of pages6
ISBN (Electronic)9798350337020
DOIs
Publication statusPublished - 2023
Event2023 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2023 - Hybrid, Honolulu, United States
Duration: 1 Oct 20234 Oct 2023

Publication series

NameConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
ISSN (Print)1062-922X

Conference

Conference2023 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2023
Country/TerritoryUnited States
CityHybrid, Honolulu
Period1/10/234/10/23

Bibliographical note

Publisher Copyright:
© 2023 IEEE.

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