Urban Swarms: A new approach for autonomous waste management
Name
1810.07910.pdf
Description
Submitted version
Size
4.68 MB
Format
Adobe PDF
Checksum (MD5)
982e58b3f8ce48ab9ef8f5add25d13c7
Author(s)
Alfeo, Antonio Luca
Ferrer, Eduardo Castello
Carrillo, Yago Lizarribar
Grignard, Arnaud
Pastor, Luis Alonso
Sleeper, Dylan T
Cimino, Mario GCA
Lepri, Bruno
Vaglini, Gigliola
Larson, Kent
Date Issued
March 2019
Journal
Proceedings - IEEE International Conference on Robotics and Automation
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Alfeo, Antonio Luca, Ferrer, Eduardo Castello, Carrillo, Yago Lizarribar, Grignard, Arnaud, Pastor, Luis Alonso et al. 2019. "Urban Swarms: A new approach for autonomous waste management." Proceedings - IEEE International Conference on Robotics and Automation, 2019-May.
Version
Original manuscript
Abstract
© 2019 IEEE. Modern cities are growing ecosystems that face new challenges due to the increasing population demands. One of the many problems they face nowadays is waste management, which has become a pressing issue requiring new solutions. Swarm robotics systems have been attracting an increasing amount of attention in the past years and they are expected to become one of the main driving factors for innovation in the field of robotics. The research presented in this paper explores the feasibility of a swarm robotics system in an urban environment. By using bio-inspired foraging methods such as multi-place foraging and stigmergy-based navigation, a swarm of robots is able to improve the efficiency and autonomy of the urban waste management system in a realistic scenario. To achieve this, a diverse set of simulation experiments was conducted using real-world GIS data and implementing different garbage collection scenarios driven by robot swarms. Results presented in this research show that the proposed system outperforms current approaches. Moreover, results not only show the efficiency of our solution, but also give insights about how to design and customize these systems.
MIT Department
Massachusetts Institute of Technology. Media Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ICRA.2019.8794020
