ACS6121 - Unit 01 (Swarm Robotics)

Question 1

What are the key properties of a swarm?

Answer 1

Many individuals, relatively homogeneous, local simple behavioral rules, self-organized global behavior.

Question 2

What are the technological motivations for swarm robotics?

Answer 2

Fault tolerance, scalability, and miniaturization.

Question 3

What is an artificial potential field in robotics?

Answer 3

A control method where robots move in a field shaped by attractive and repulsive potentials (e.g., goal attracts, obstacles repel).

Question 4

What inputs are needed for potential field methods?

Answer 4

Range and bearing estimates (continuous inputs).

Question 5

What is “computation-free swarming”?

Answer 5

A method where robots use simple, discrete binary inputs mapped directly to outputs using a lookup table—no internal computation or memory.

Question 6

What is a finite-state machine (FSM) in robotics?

Answer 6

A control model where robot behavior depends on current input and internal state; behavior changes via state transitions.

Question 7

Why use FSMs in robotics?

Answer 7

Modularity, predictability, simplicity, real-time response, fault tolerance, and ease of debugging.

Question 8

How can cooperation occur in robot swarms without communication?

Answer 8

Through implicit coordination based on shared environment and local interaction rules (e.g., stick pulling by ants/robots).

Question 9

Give an example of a real-world FSM task.

Answer 9

A robot dialling 999 only if keys 9, 9, 9 are pressed in order with no interruption—requires memory of previous inputs.

Question 10

What’s a common limitation of potential field methods?

Answer 10

Local minima can trap robots, preventing goal achievement.

Question 11

1. Multiple Choice:
   Which of the following is not a characteristic of swarm robotics?
   A) Centralized control
   B) Scalability
   C) Simple local rules
   D) Self-organization

Answer 11

→ Correct Answer: A) Centralized control

Question 12

2. True/False:
   In computation-free swarming, robots use complex onboard processors to determine behavior.

Answer 12

→ False

Question 13

3. Fill in the Blank:
   In artificial potential field methods, the robot moves in the direction that ______ the potential function.

Answer 13

→ reduces

Question 14

4. Short Answer:
   What is the main difference between computation-free swarming and FSM-based control?

Answer 14

→ Computation-free swarming has no internal state or memory, while FSMs use internal states to determine behavior.

Question 15

5. Multiple Choice:
   Which of the following is a benefit of using finite-state machines in mobile robotics?
   A) Requires fewer sensors
   B) Simplifies behavior debugging
   C) Avoids state-based decision-making
   D) Ensures global optimality

Answer 15

→ Correct Answer: B) Simplifies behavior debugging