Optimization of Swarm Robotic Systems via Macroscopic Models

In this paper, we propose a time-discrete, macroscopic model able to capture the dynamics of a robotic swarm system engaged in a collaborative manipulation task. The case study is concerned with pulling sticks out of the ground, an action that requires the collaboration of two robots to be successful. We will show that the model can deliver not only quantitatively correct predictions but also be a very useful tool for optimization. In particular, we will show how a mathematical analysis of a simplified model leads to counterintuitive results which can then be exploited in the full model or more detailed microscopic simulations to quantitatively assess the dynamic of the whole system. We conclude the paper with a discussion of strengths and limitations of the current model-based optimization method.