Static and expanding grid coverage with ant robots: Complexity results
Theoretical Computer Science
Multi-agent Cooperative Cleaning of Expanding Domains
International Journal of Robotics Research
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Effective teamwork in highly dynamic environments requires a delicate balance between giving agents the autonomy to act and react on their own and restricting that autonomy so that the agents do not work at cross purposes. In this article we describe the problems involved in coordinating behavior based upon a highly dynamic object, a soccer ball, for agents with sensing and communications limitations. We then present a system for coping with these problems and examine its success in light of its performance at the RoboCup 2007 championship.