Authors:
Jolana Sebestyénová
and
Peter Kurdel
Affiliation:
Institute of Informatics and Slovak Academy of Sciences, Slovak Republic
Keyword(s):
Area Coverage, Multi-robotic System, Emergent Behaviour, Self-organization, Cellular Automata, Search and Surround of Targets.
Related
Ontology
Subjects/Areas/Topics:
Environmental Monitoring and Control
;
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Network Robotics
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
The paper introduces the multi-robot area coverage problem, wherein a group of robots must inspect every point of a 2-dimensional test environment and surround all contaminations (or enemies) found. Self-organizing robotic systems are able to accomplish complex tasks in a changing environment, using local interactions among individual agents and local environment without an external global control. Our interest in this area is motivated by an involvement in a project with a goal to solve tasks of difficult area coverage and surveillance by a large team of small autonomous robots. In the paper, the architecture to achieve this is described, and simulation results are presented to compare efficiency of coverage of the area and surround of found targets using robots groups having different sensors ranges.