Terrain coverage with ant robots: a simulation study
Proceedings of the fifth international conference on Autonomous agents
Efficiently searching a graph by a smell-oriented vertex process
Annals of Mathematics and Artificial Intelligence
Efficient and inefficient ant coverage methods
Annals of Mathematics and Artificial Intelligence
Efficient Exploration In Reinforcement Learning
Efficient Exploration In Reinforcement Learning
Randomized Pursuit-Evasion with Local Visibility
SIAM Journal on Discrete Mathematics
Cooperative Cleaners: A Study in Ant Robotics
International Journal of Robotics Research
Algorithms and complexity results for pursuit-evasion problems
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
Multi-agent Cooperative Cleaning of Expanding Domains
International Journal of Robotics Research
Improved bounds for cops-and-robber pursuit
Computational Geometry: Theory and Applications
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In this paper we discuss the task of efficiently using ant-like robotic agents for covering a connected region on the Z2 grid, whose shape and size are unknown in advance, and which expands at a given rate. This is done using myopic robots, with no ability to directly communicate with each other, where each robot is equipped with only O(1) memory. We show that regardless of the algorithm used, and the robots' hardware and software specifications, the minimal number of robots required in order to enable such coverage is Ω(√n) (where n is the initial size of the connected region). In addition, we show that when the region expands at a sufficiently slow rate, a teamof Θ(√n) robots could cover it in atmost O(n2 ln n) time. Regarding the coverage of non-expanding regions in the grid, we improve the current best known result of O(n2) by demonstrating an algorithm of worse case completion time of O(1/k n1.5 + n), and faster for shapes of perimeter length which is shorter than O(n).