English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Tools annual

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools monthly

Global: Zendy Plus monthly

Presents the access of premium content as premium feature

Premium Content

Global: Zendy Plus annual

Global: Zendy Free Plan

A robotic swarm may encounter traffic congestion when many robotssimultaneously attempt to reach the same area. For solving that efficiently,robots must execute decentralised traffic control algorithms. In this work, wepropose a measure for evaluating the access efficiency of a common target areaas the number of robots in the swarm rises: the common target area throughput.We also employ here the target area asymptotic throughput -- that is, thethroughput of a target region with a limited area as the time tends to infinity-- because it is always finite as the number of robots grows, opposed to therelation arrival time at the target per number of robots that tends toinfinity. Using this measure, we can analytically compare the effectiveness ofdifferent algorithms. In particular, we propose and formally evaluate threedifferent theoretical strategies for getting to a circular target area: (i)forming parallel queues towards the target area, (ii) forming a hexagonalpacking through a corridor going to the target, and (iii) making multiplecurved trajectories towards the boundary of the target area. We calculate thethroughput for a fixed time and the asymptotic throughput for these strategies.Additionally, we corroborate these results by simulations, showing that when astrategy has higher throughput, its arrival time per number of robots is lower.Thus, we conclude that using throughput is well suited for comparing congestionalgorithms for a common target area in robotic swarms even if we do not havetheir closed asymptotic equation.

On the throughput of the common target area for robotic swarm strategies -- extended version