Blazing a trail: Insect-inspired resource transportation by a robot team

摘要

We demonstrate a team of real robots that cooperate to robustly transport resource between two locations in an unknown environment. The robots use a trail laying and following algorithm inspried by the trail following of ants and the waggle dance of honey bees. Rather than direclty marking their environment, the robots announce landmarks in their odometric localization space. The system tolerates significant odometric drift before it breaks down.