From Ants to Birds: A Novel Bio-Inspired Approach to Online Area Coverage

Luca Giuggioli, Idan Arye, Alexandro Heiblum Robles, Gal Kaminka

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Abstract

Online coverage path planning is a canonical multi-robot task, where the objective is to minimize the time it takes for robots to visit every point in an unknown area. Two general major approaches have been explored in the literature: a stigmergic approach, inspired by ant behavior, relies on active marking of the environment. In contrast, the collaborative approach relies instead on localization, memory of positions, and global communications. In this paper, we report on a new approach, inspired by territorial bird chirping, which borrows from both previous approaches: it relies on localization and memory, but not on global communications. We provide a detailed analytic and empirical evaluation of this model.
Original languageEnglish
Title of host publicationDistributed Autonomous Robotic Systems
Subtitle of host publicationThe 13th International Symposium
PublisherSpringer
Pages31-43
Number of pages13
ISBN (Electronic)9783319730080
ISBN (Print)9783319730066
DOIs
Publication statusPublished - 14 Mar 2018
Event13th International Symposium on Distributed Autonomous Robotic Systems - Natural History Museum, London, United Kingdom
Duration: 6 Nov 20169 Nov 2016
http://dars2016.org

Publication series

NameSpringer Tracts in Advanced Robotics
PublisherSpringer
Volume6
ISSN (Print)1610-7438

Conference

Conference13th International Symposium on Distributed Autonomous Robotic Systems
Abbreviated titleDARS 2016
CountryUnited Kingdom
CityLondon
Period6/11/169/11/16
Internet address

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  • Cite this

    Giuggioli, L., Arye, I., Heiblum Robles, A., & Kaminka, G. (2018). From Ants to Birds: A Novel Bio-Inspired Approach to Online Area Coverage. In Distributed Autonomous Robotic Systems: The 13th International Symposium (pp. 31-43). (Springer Tracts in Advanced Robotics; Vol. 6). Springer. https://doi.org/10.1007/978-3-319-73008-0_3