Direct Local Communication for Distributed Coordination in a Multi-robot Team

This paper addresses problems of communication and coordination in the system of simple mobile robots that have limited sensing capabilities and computing resources. We propose a framework based on the direct, local communication and the finite-state machine encoding the coordination rules. We briefly describe our robots and then define the hardware and software architecture of the communication system. The proposed solution is validated experimentally on the task of passing through a gap in a wall.

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