Scalar Waves: Designing Perception Frameworks and Path Planning for Swarm Robot Systems Operating in a Scalar Field

EasyChair Preprint 15271

Abstract

Scalar waves hold the potential to revolutionize computing and communications by offering advantages like instantaneous data transmission and immunity to electromagnetic interference. In this paper, we will explore the world of scalar waves and also their potential to reshape the future of computing, and robotics. In our work, we used scalar fields as a global level of guidance for the robots in operation. A scalar field associates a value with every point in the working region. Here we show how scalar fields can be used to guide swarm of robots to execute a specific task. We present an example of tasks using the scalar field, such as constructing shapes from ambient objects, which involves finding and collecting ambient objects to the collection area and aggregating to desired shapes. First, we show the scalar field mapping with scalar function using SLAM algorithm to guide the robots in their movements. Second, the development of AR model of a sensor data by integration to achieve detailed object sensing of robots. Here, each robot to find an estimate of material location and an estimate of the value of the scaler field is iteratively updated during the movement of the robot and a central control command is also updated regarding the mobile robots to form a network and cover the field. Also, entire scalar field is  used it as a pathway network among the swarm of robots to perform the aggregation task. Experiments have been conducted to demonstrate the workability of the proposed algorithms.

Keyphrases: Augmented Reality, SLAM algorithm, Scalar Waves, Swarm robots, scalar field

@booklet{EasyChair:15271,
  author    = {Poondru Prithvinath Reddy},
  title     = {Scalar Waves: Designing Perception Frameworks and Path Planning for Swarm Robot Systems Operating in a Scalar Field},
  howpublished = {EasyChair Preprint 15271},
  year      = {EasyChair, 2024}}