Interconnected devices and mobile multi-robot systems are increasingly present in many real-life scenarios. To be effective, these systems need to collect large amounts of data from their environment, and often these data need to be aggregated, shared, and distributed. Many multi-robot systems are designed to share state information and commands, but their communication infrastructure is often too limited for significant data transfers. This paper introduces Swarm-Oriented Upload of Labeled data, a mechanism that allows members of a fully distributed system to share data with their peers. We leverage a BitTorrent-like strategy to share data in smaller chunks, or datagrams, with policies that minimize reconstruction time. We performed extensive simulations to study the properties of the system and to demonstrate its scalability. We report experiments conducted with real robots following two realistic deployment scenarios: searching for objects in a scene, and replacing the full identity of a defective robot.

中文翻译：

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灵魂：机器人群的数据共享

在许多现实生活中，互连设备和移动多机器人系统越来越多地出现。为了有效，这些系统需要从其环境中收集大量数据，并且通常需要对这些数据进行聚合，共享和分发。许多多机器人系统设计为共享状态信息和命令，但是它们的通信基础结构通常太受限制，无法进行大量的数据传输。本文介绍了标记数据的面向群体的上传，该机制允许完全分布式系统的成员与对等共享数据。我们利用类似于BitTorrent的策略，以最小化重建时间的策略共享较小块或数据报中的数据。我们进行了广泛的仿真，以研究系统的属性并演示其可伸缩性。