Proposal and Implementation of an Autonomous Decentralized Rescue Architecture for Anomaly Response in Swarm Robot Systems

Abstract

In the case of a swarm robot system in an unlimited environment such as a disaster site, it is necessary to take an approach in which robots autonomously solve each other’s anomalies such as stuck robots or malfunctions. This paper proposes an example of an autonomous anomaly diagnosis and rescue architecture with swarm robots. Through verification using actual robots equipped with rescue mechanisms, this paper presents an example of architecture design for responding to an anomaly.