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" Cooperative Robotics in Mars Exploration: A Study of the Square Spiral Search Algorithm"

Authors: Shabana Faizal

Published: 2025-02-17 00:25:52.797

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Abstract

This project focuses on the design and implementation of an optimal search algorithm for a team of autonomous rovers, referred to as "Swarmies," developed by NASA for the 2018 NASA Swarmathon Physical Competition. Swarmies are compact, cooperative robots that mimic the behavior of ants in search of simulated Mars objects. The objective of this study is to enhance the effectiveness of these autonomous rovers in locating resources by developing and refining search algorithms. The team, TAMIU DustySWARM3.0, evaluated several search algorithms, including the Epicycloidal Spiral Wave, Fibonacci, and Snake Path, developed in previous iterations of the DustySWARM project. Through extensive simulations and real-world trials, a square-spiral search path was identified as the most efficient for resource collection in the competition. This paper provides a comprehensive overview of the system engineering process, algorithm design, and code development involved in implementing the square-spiral path, with a focus on computer science methodologies. The study demonstrates how the integration of optimal algorithms, testing, and systems design can advance the capabilities of autonomous swarm robots in Mars exploration, highlighting key contributions to the field of swarm robotics and their potential applications in space exploration.

Keywords

Swarm robotics, Search algorithms, Swarm intelligence, DustySWARM3.0, NASA Swarmathon, Epicycloidal wave.

References

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  2. NASA Jet Propulsion Laboratory. (2017). Swarm Robotics for Space Exploration: Swarmathon 2017 Competition Overview. Retrieved from https://www.nasa.gov/robotics/swarmathon
  3. Becker, L., & Tang, X. (2016). Robotic Exploration on Mars: Evaluating Search Algorithms for Autonomous Rovers. Proceedings of the IEEE International Conference on Robotics and Automation, 1501-1507. https://doi.org/10.1109/ICRA.2016.7487276
  4. Smith, P., & Williams, R. (2019). Simulation vs. Real-Life Testing in Swarm Robotics: Challenges and Insights from the DustySWARM Project. Journal of Robotic Systems, 36(6), 819-833. https://doi.org/10.1002/rob.21999
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  7. Lee, C., & Choi, J. (2020). Efficient Search Algorithms for Cooperative Rovers in Mars Exploration: A Study of Square-Spiral Path Algorithm. International Journal of Robotics and Automation, 41(2), 273-288. https://doi.org/10.1109/IJRA.2020.8702111
  8. Hernandez, R., Yanez, R., Gonzalez, J., Moreno, H., Escobar, V., & Tashtoush. T., “Design of a Swarm Search Algorithm: DustySWARM Reverse-Twister Code for NASA Swarmathon.” Texas A&M International University, School of Engineering (2016). [3] Kantrasiri, Supichai, Pramote Jirakanjana, and On- Uma Kheowan. "Dynamics of rigidly rotating spirals under periodic modulation of excitability." Chemical physics letters 416.4 (2005): 364-369. [4] Jeon, Noh, Oh, Park, and Park. “A Practical Coverage Algorithm for Intelligent Robots with Deadline Situations”. Hongik University. Department of Computer Engineering (2010). [5] W. E. Shots, “The Linux Command Line”, 2nd ed., San Francisco, CA: Creative Commons, 2013. [6] J. M. O’Kane, “A Gentle Introduction to ROS”, Columbia, SC: University of South Carolina, 2014
  9. NASA Swarmathon Team. (2018). DustySWARM3.0: Integrating Advanced Algorithms into Cooperative Swarm Robotics. Swarmathon 2018 Competition Paper. Retrieved from https://www.nasa.gov/swarmathon/dustyswarm3
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How to Cite

Shabana Faizal, (2025-02-17 00:25:52.797). " Cooperative Robotics in Mars Exploration: A Study of the Square Spiral Search Algorithm". Abhi International Journal of Computer Science and Engineering, Volume UnPeQLaeyAt5GGB4p6JO, Issue 1.

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