Simulated and situated models of chemical trail following in ants
Proceedings of the fifth international conference on simulation of adaptive behavior on From animals to animats 5
Value-update rules for real-time search
AAAI '99/IAAI '99 Proceedings of the sixteenth national conference on Artificial intelligence and the eleventh Innovative applications of artificial intelligence conference innovative applications of artificial intelligence
Approximation algorithms for lawn mowing and milling
Computational Geometry: Theory and Applications
Terrain coverage with ant robots: a simulation study
Proceedings of the fifth international conference on Autonomous agents
Efficient and inefficient ant coverage methods
Annals of Mathematics and Artificial Intelligence
Spanning-tree based coverage of continuous areas by a mobile robot
Annals of Mathematics and Artificial Intelligence
Competitive on-line coverage of grid environments by a mobile robot
Computational Geometry: Theory and Applications
Building Terrain-Covering Ant Robots: A Feasibility Study
Autonomous Robots
International Journal of Robotics Research
Distributed multi-robot coordination in area exploration
Robotics and Autonomous Systems
Distributed multi-robot coordination in area exploration
Robotics and Autonomous Systems
On redundancy, efficiency, and robustness in coverage for multiple robots
Robotics and Autonomous Systems
AntNet: distributed stigmergetic control for communications networks
Journal of Artificial Intelligence Research
Coordinated multi-robot exploration
IEEE Transactions on Robotics
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Terrain exploration and coverage are required for a variety of applications such as mine clearing, intrusion detection and other humanitarian missions like search and rescue operations, for example, fire or blast in a building. During an emergency situation within a building it is crucial to explore the area as fast as possible in order to search and find the wounded people and other hazards. On account of the prevailing breakdown of communication in indoor environments in some situations, it is suggested that the robots can communicate indirectly with the use of markings in the environment. The Spanning Tree Coverage (STC) method, proposed for this problem, suffers in environments that have partially occupied cells and narrow door openings between rooms. In this paper, we consider an extension of the Simultaneous Multiple STC (S-MSTC) algorithm, which we proposed in our previous work on multiple autonomous robots used in exploration and coverage in an unknown terrain. The proposed extended S-MSTC (ES-MSTC) uses ant-type robots to cover the terrain leaving marks on the terrain, which can be sensed by the robots and allow them to cover the terrain, similar to the nature of ants. This algorithm can handle partially occupied cells and narrow door openings in the terrain and performs a complete coverage of the surface regardless of the shape of the environment by constructing multiple spanning trees simultaneously. We present a simulation study and compare the performance of the ES-MSTC algorithm with other existing algorithms.