Ant-sweep: a decentral strategy for cooperative cleaning in expanding domains

Authors:
Thilo Beckmann;Rolf Klein;David Kriesel;Elmar Langetepe
Affiliations:
Bonn University, Bonn, Germany;Bonn University, Bonn, Germany;Bonn University, Bonn, Germany;Bonn University, Bonn, Germany
Venue:
Proceedings of the twenty-seventh annual symposium on Computational geometry
Year:
2011

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Abstract

Several recent works considered cooperative cleaning in static and dynamic environments, which incorporates a swarm of simple robots cleaning an expanding region of contaminated cells in a 2-D grid. However, even the state of the art strategy requires continuously-updated global domain information. In this work-in-progress we examine a strategy operating truly local. Neither in the beginning of a cleaning process, nor later on will our robot swarm receive any global information in order to perform the cooperative cleaning task.