Building a distributed spatial awareness within a swarm of locally sensing and communicating robots enables new swarm algorithms. We use local observations by robots of each other and Gaussian Belief Propagation message passing combined with continuous swarm movement to build a global and distributed swarm-centric frame of reference. With low bandwidth and computation requirements, this shared reference frame allows new swarm algorithms. We characterise the system in simulation and demonstrate two example algorithms.

翻译：在由局部感知和通信机器人组成的集群中构建分布式空间感知，能够催生新的集群算法。我们利用机器人之间的局部观测，结合高斯置信传播消息传递与连续集群运动，构建了一个全局且分布式的以集群为中心的参考坐标系。该系统具有低带宽和低计算需求，其共享参考坐标系为新集群算法的实现提供了可能。我们在仿真环境中对该系统进行了特性分析，并展示了两种示例算法。