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

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

doi:10.1007/978-3-319-73008-0_3

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

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

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

254 Downloads (Pure)

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 language	English
Title of host publication	Distributed Autonomous Robotic Systems
Subtitle of host publication	The 13th International Symposium
Publisher	Springer
Pages	31-43
Number of pages	13
ISBN (Electronic)	9783319730080
ISBN (Print)	9783319730066
DOIs	https://doi.org/10.1007/978-3-319-73008-0_3
Publication status	Published - 14 Mar 2018
Event	13th International Symposium on Distributed Autonomous Robotic Systems - Natural History Museum, London, United Kingdom Duration: 6 Nov 2016 → 9 Nov 2016 http://dars2016.org

Publication series

Name	Springer Tracts in Advanced Robotics
Publisher	Springer
Volume	6
ISSN (Print)	1610-7438

Conference

Conference	13th International Symposium on Distributed Autonomous Robotic Systems
Abbreviated title	DARS 2016
Country	United Kingdom
City	London
Period	6/11/16 → 9/11/16
Internet address	http://dars2016.org

Access to Document

10.1007/978-3-319-73008-0_3

Full-text PDF (accepted author manuscript)
This is the author accepted manuscript (AAM). The final published version (version of record) is available online via Springer at https://link.springer.com/chapter/10.1007/978-3-319-73008-0_3 . Please refer to any applicable terms of use of the publisher.
Accepted author manuscript, 786 KB

Fingerprint Dive into the research topics of 'From Ants to Birds: A Novel Bio-Inspired Approach to Online Area Coverage'. Together they form a unique fingerprint.

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

@inproceedings{1b6f07d53eae4bc3982763b492cdcf76,

title = "From Ants to Birds: A Novel Bio-Inspired Approach to Online Area Coverage",

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.",

author = "Luca Giuggioli and Idan Arye and {Heiblum Robles}, Alexandro and Gal Kaminka",

year = "2018",

month = mar,

day = "14",

doi = "10.1007/978-3-319-73008-0_3",

language = "English",

isbn = "9783319730066",

series = "Springer Tracts in Advanced Robotics",

publisher = "Springer",

pages = "31--43",

booktitle = "Distributed Autonomous Robotic Systems",

note = "13th International Symposium on Distributed Autonomous Robotic Systems, DARS 2016 ; Conference date: 06-11-2016 Through 09-11-2016",

url = "http://dars2016.org",

}

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. Springer Tracts in Advanced Robotics, vol. 6, Springer, pp. 31-43, 13th International Symposium on Distributed Autonomous Robotic Systems, London, United Kingdom, 6/11/16. https://doi.org/10.1007/978-3-319-73008-0_3

From Ants to Birds : A Novel Bio-Inspired Approach to Online Area Coverage. / Giuggioli, Luca; Arye, Idan; Heiblum Robles, Alexandro; Kaminka, Gal.

Distributed Autonomous Robotic Systems: The 13th International Symposium. Springer, 2018. p. 31-43 (Springer Tracts in Advanced Robotics; Vol. 6).

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

TY - GEN

T1 - From Ants to Birds

T2 - 13th International Symposium on Distributed Autonomous Robotic Systems

AU - Giuggioli, Luca

AU - Arye, Idan

AU - Heiblum Robles, Alexandro

AU - Kaminka, Gal

PY - 2018/3/14

Y1 - 2018/3/14

N2 - 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.

AB - 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.

U2 - 10.1007/978-3-319-73008-0_3

DO - 10.1007/978-3-319-73008-0_3

M3 - Conference Contribution (Conference Proceeding)

SN - 9783319730066

T3 - Springer Tracts in Advanced Robotics

SP - 31

EP - 43

BT - Distributed Autonomous Robotic Systems

PB - Springer

Y2 - 6 November 2016 through 9 November 2016

ER -