Stigmergic coverage algorithm for multi-robot systems (demonstration)

Authors:
Bijan Ranjbar-Sahraei;Gerhard Weiss;Ali Nakisaee
Affiliations:
Maastricht University, MD Maastricht, The Netherlands;Maastricht University, MD Maastricht, The Netherlands;National Organization for Development of Exceptional Talents (NODET), Shiraz, Iran
Venue:
Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems - Volume 3
Year:
2012

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Abstract

We demonstrate the realization of stigmergic coverage for multi-robot systems. Compared to current state-of-the-art algorithms for multi-robot coverage, our Stigmergy-based Coverage algorithm (StiCo) has several key advantages. In particular, it does not need direct robot-robot communication. Moreover, this algorithm does not require any prior information about the environment. Simulation results illustrate robustness, scalability and simplicity of the algorithm.