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 |
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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 | |
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 |
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Publisher | Springer |
Volume | 6 |
ISSN (Print) | 1610-7438 |
Conference
Conference | 13th International Symposium on Distributed Autonomous Robotic Systems |
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Abbreviated title | DARS 2016 |
Country/Territory | United Kingdom |
City | London |
Period | 6/11/16 → 9/11/16 |
Internet address |
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Dr Luca Giuggioli
- Department of Engineering Mathematics - Associate Professor in Complexity Sciences
- Applied Nonlinear Mathematics
- Animal Behaviour and Sensory Biology
- Ecology and Environmental Change
Person: Academic , Member