Details

Autor(en) / Beteiligte

• Jamshidpey, Aryo
• Zhu, Weixu
• Wahby, Mostafa
• Allwright, Michael
• Heinrich, Mary Katherine
• Dorigo, Marco

Titel

Multi-robot Coverage Using Self-organized Networks for Central Coordination

Ist Teil von

• Swarm Intelligence, p.216-228

Ort / Verlag

Cham: Springer International Publishing

Link zum Volltext

Quelle

Alma/SFX Local Collection

Beschreibungen/Notizen

• We propose an approach to multi-robot coverage that combines aspects of centralized and decentralized control, based on the existing ‘mergeable nervous systems’ concept. In our approach, robots self-organize a dynamic ad-hoc communication network for distributed asymmetric control, enabling a degree of central coordination. In the coverage task, simulated ground robots coordinate with UAVs to explore an arena as uniformly as possible. Compared to strictly centralized and decentralized approaches, we test our approach in terms of coverage percentage, coverage uniformity, scalability, and fault tolerance.