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Towards Long-Term Collective Experiments

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  • Presented at: International Conference on Intelligent Autonomous System (IAS-12), Jeju Island, Korea, June 26-29, 2012
  • Published in: Proceeding of the International Conference on Intelligent Autonomous System (IAS-12), vol. 12, p. 683-692
  • Series: Advances in Intelligent Systems and Computing 194
  • Berlin: Springer Berlin Heidelberg, 2013

It is often challenging to manage the battery supply when dealing with a fleet of mobile robots during long experiments. If one uses classical recharge stations, then agents are immobilized during the whole recharge process. In this study, we present a novel approach that employs a battery pack swapping station. Batteries are charged in a rotating barrel, and the robots dock only for the time of the hot-swap process. We attained an unavailability time of only 40 seconds, with a success rate of 100 % on a total of 46 trials. Experiments above 8 hours are performed in three arenas with different configurations, which proves the relevance of our approach.

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