TY - GEN
T1 - Multi-robot Coverage Using Self-organized Networks for Central Coordination
AU - Jamshidpey, Aryo
AU - Zhu, Weixu
AU - Wahby, Mostafa
AU - Allwright, Michael
AU - Heinrich, Mary Katherine
AU - Dorigo, Marco
N1 - Publisher Copyright:
© 2020, Springer Nature Switzerland AG.
PY - 2020
Y1 - 2020
N2 - 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.
AB - 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.
M3 - Conference contribution
BT - Swarm Intelligence
ER -
