Computational resources of quantum computing can enhance robotic motion, decision making, and path planning. While the quantum paradigm is being applied to individual robots, its approach to swarms of simple and interacting robots remains largely unexplored. In this paper, we attempt to bridge the gap between swarm robotics and quantum computing, in the framework of a search and rescue mission. We focus on a decision-making and path-planning collective task. Thus, we present a quantum-based path-planning algorithm for a swarm of robots. Quantization enters position and reward information (measured as a robot’s proximity to the target) and path-planning decisions. Pairwise information-exchange is modeled through a logic gate, implemented with a quantum circuit. Path planning draws upon Grover’s search algorithm, implemented with another quantum circuit. Our case study involves a search and rescue scenario, inspired by ant-foraging behavior in nature, as an example of swarm intelligence. We show that our method outperforms two ant-behavior simulations, in NetLogo and Java, respectively, presenting a faster convergence to the target, represented here by the source of food. This study can shed light on future applications of quantum computing to swarm robotics.

Chella, A., Gaglio, S., Mannone, M., Pilato, G., Seidita, V., Vella, F., et al. (2023). Quantum planning for swarm robotics. ROBOTICS AND AUTONOMOUS SYSTEMS, 161 [10.1016/j.robot.2023.104362].

Quantum planning for swarm robotics

Chella, Antonio;Gaglio, Salvatore;Mannone, Maria
;
Pilato, Giovanni;Seidita, Valeria;Vella, Filippo;Zammuto, Salvatore
2023-01-07

Abstract

Computational resources of quantum computing can enhance robotic motion, decision making, and path planning. While the quantum paradigm is being applied to individual robots, its approach to swarms of simple and interacting robots remains largely unexplored. In this paper, we attempt to bridge the gap between swarm robotics and quantum computing, in the framework of a search and rescue mission. We focus on a decision-making and path-planning collective task. Thus, we present a quantum-based path-planning algorithm for a swarm of robots. Quantization enters position and reward information (measured as a robot’s proximity to the target) and path-planning decisions. Pairwise information-exchange is modeled through a logic gate, implemented with a quantum circuit. Path planning draws upon Grover’s search algorithm, implemented with another quantum circuit. Our case study involves a search and rescue scenario, inspired by ant-foraging behavior in nature, as an example of swarm intelligence. We show that our method outperforms two ant-behavior simulations, in NetLogo and Java, respectively, presenting a faster convergence to the target, represented here by the source of food. This study can shed light on future applications of quantum computing to swarm robotics.
Settore INF/01 - Informatica
https://www.sciencedirect.com/science/article/pii/S0921889023000015
Chella, A., Gaglio, S., Mannone, M., Pilato, G., Seidita, V., Vella, F., et al. (2023). Quantum planning for swarm robotics. ROBOTICS AND AUTONOMOUS SYSTEMS, 161 [10.1016/j.robot.2023.104362].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/10447/578630
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