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Article Details

Copyright Statement: This is an open access article licensed under a Creative Commons Attribution 4.0 International License, which permits unrestricted use, distribution, and reproduction in any medium, even commercially as long as the original work is properly cited.

Developing a Radiating L-shaped Search Algorithm for NASA Swarm Robots

Author 1: Tariq Tashtoush
Author 2: Jalil Ahmed
Author 3: Valeria Arce
Author 4: Heriberto Dominguez
Author 5: Kevin Estrada
Author 6: William Montes
Author 7: Ashley Paredez
Author 8: Pedro Salce
Author 9: Alexia Serna
Author 10: Mireya Zarazua

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Digital Object Identifier (DOI) : 10.14569/IJACSA.2020.0110802

Article Published in International Journal of Advanced Computer Science and Applications(IJACSA), Volume 11 Issue 8, 2020.

  • Abstract and Keywords
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Abstract: This paper focuses on designing a search algorithm that the DustySWARM team used in the 2019 NASA Swarmathon competition. The developed search algorithm will be implemented and tested on multiple rovers, a.k.a. Swarmies or Swarm Robots. Swarmies are compact rovers, designed by NASA to mimic Ants behavior and perform an autonomous search for simulated Mars resources. This effort aimed to assist NASA’s mission to explore the space and discover new resources on the Moon and Mars. NASA’s going-on project has the goal to send robots that explore and collect resources for analysis before sending Astronauts, as the swarm option is safer and more affordable. All rovers must utilize the exact algorithm and collaborate and cooperate to find all available resources in their search path and retrieve them to the space station location. Additionally, swarmies will autonomously search while avoiding obstacles and mapping the surrounding environment for future missions. This algorithm allows a swarm of six robots to search an unknown area for simulated resources called AprilTags (cubes with QR codes). The code was developed using C/C++, GitHub, and Robotics Operation Systems (ROS) and tested by utilizing the Gazebo Simulation environment and by running physical trials on the swarmies. The team analyzed a few algorithms from previous years and other researchers then developed the Radiating L-Shape Search (RLS) Algorithm. This paper will summarize the algorithm design, code development, and trial results that were provided to the NASA Space Exploration Engineering team.

Keywords: NASA Swarmathon competition; swarm robotics; search algorithm; autonomous; Robot Operating System (ROS); NASA space exploration; simulation; autonomous robot swarm; collaborative robots; autonomous behavior; cooperative robots; swarmies; L-Shaped search; GitHub

Tariq Tashtoush, Jalil Ahmed, Valeria Arce, Heriberto Dominguez, Kevin Estrada, William Montes, Ashley Paredez, Pedro Salce, Alexia Serna and Mireya Zarazua, “Developing a Radiating L-shaped Search Algorithm for NASA Swarm Robots” International Journal of Advanced Computer Science and Applications(IJACSA), 11(8), 2020. http://dx.doi.org/10.14569/IJACSA.2020.0110802

@article{Tashtoush2020,
title = {Developing a Radiating L-shaped Search Algorithm for NASA Swarm Robots},
journal = {International Journal of Advanced Computer Science and Applications},
doi = {10.14569/IJACSA.2020.0110802},
url = {http://dx.doi.org/10.14569/IJACSA.2020.0110802},
year = {2020},
publisher = {The Science and Information Organization},
volume = {11},
number = {8},
author = {Tariq Tashtoush and Jalil Ahmed and Valeria Arce and Heriberto Dominguez and Kevin Estrada and William Montes and Ashley Paredez and Pedro Salce and Alexia Serna and Mireya Zarazua}
}


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