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

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

*Korrespondierende/r Autor/-in für diese Arbeit

Abstract

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.

OriginalspracheEnglisch
TitelSwarm Intelligence
Erscheinungsdatum2020
PublikationsstatusVeröffentlicht - 2020

Fingerprint

Untersuchen Sie die Forschungsthemen von „Multi-robot Coverage Using Self-organized Networks for Central Coordination“. Zusammen bilden sie einen einzigartigen Fingerprint.

Zitieren