A study on centralised and decentralised swarm robotics architecture for part delivery system

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dc.contributor.authorDimakos, Angelos
dc.contributor.authorWoodhall, Daniel
dc.contributor.authorAsif, Seemal
dc.date.accessioned2021-10-29T12:49:15Z
dc.date.available2021-10-29T12:49:15Z
dc.date.issued2021-10-11
dc.description.abstractDrones are also known as UAVs are originally designed for military purposes. With the technological advances, they can be seen in most of the aspects of life from filming to logistics. The increased use of drones made it sometimes essential to form a collaboration between them to perform the task efficiently in a defined process. This paper investigates the use of a combined centralised and decentralised architecture for the collaborative operation of drones in a parts delivery scenario to enable and expedite the operation of the factories of the future. The centralised and decentralised approaches were extensively researched, with experimentation being undertaken to determine the appropriateness of each approach for this use-case. Decentralised control was utilised to remove the need for excessive communication during the operation of the drones, resulting in smoother operations. Initial results suggested that the decentralised approach is more appropriate for this use-case. The individual functionalities necessary for the implementation of a decentralised architecture were proven and assessed, determining that a combination of multiple individual functionalities, namely VSLAM, dynamic collision avoidance and object tracking, would give an appropriate solution for use in an industrial setting. A final architecture for the parts delivery system was proposed for future work, using a combined centralised and decentralised approach to combat the limitations inherent in each architecture.en_UK
dc.identifier.citationDimakos A, Woodhall D, Asif S. (2021) A study on centralised and decentralised swarm robotics architecture for part delivery system. Academic Journal of Engineering Studies, Volume 2, Issue 3, October 2021en_UK
dc.identifier.issn2694-4421
dc.identifier.urihttps://crimsonpublishers.com/aes/pdf/AES.000540.pdf
dc.identifier.urihttp://dspace.lib.cranfield.ac.uk/handle/1826/17220
dc.language.isoenen_UK
dc.publisherCrimson Publishersen_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectIoRTen_UK
dc.subjectSwarm roboticsen_UK
dc.subjectCentralizeden_UK
dc.subjectDecentralizeden_UK
dc.subjectAutonomyen_UK
dc.subjectIntralogisticsen_UK
dc.subjectMonocular depth estimationen_UK
dc.subjectHuman-robot interactionen_UK
dc.subjectIndustry 4.0en_UK
dc.subjectUAVen_UK
dc.titleA study on centralised and decentralised swarm robotics architecture for part delivery systemen_UK
dc.typeArticleen_UK

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