A macroscopic model for multi-robot stigmergic coverage

Authors:
Bijan Ranjbar-Sahraei;Gerhard Weiss;Karl Tuyls
Affiliations:
Department of Knowledge Engineering, Maastricht University, Maastricht, Netherlands;Department of Knowledge Engineering, Maastricht University, Maastricht, Netherlands;Department of Knowledge Engineering, Maastricht University, Maastricht, Netherlands
Venue:
Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems
Year:
2013

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Abstract

This paper explores a multi-robot coverage approach called StiCo (for "Stigmergic Coverage") by deriving a probabilistic macroscopic model. The proposed model makes it possible to quickly and efficiently study the swarm-type behavior of StiCo, and also allows for making predictions about its long term behavior. The model is validated in a twofold way: through computer simulations, and with real robots.