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

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

*Corresponding author for this work


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.

Original languageEnglish
Title of host publicationSwarm Intelligence
Publication date2020
Publication statusPublished - 2020


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