Dhesi, A. and Groß, R. orcid.org/0000-0003-1826-1375 (2021) Area coverage in two-dimensional grid worlds using computation-free agents. In: Fox, C., Gao, J., Esfahani, A.G., Saaj, M., Hanheide, M. and Parsons, S., (eds.) Towards Autonomous Robotic Systems. Annual Conference Towards Autonomous Robotic Systems (TAROS 2021), 08-10 Sep 2021, Lincoln, United Kingdom. Lecture Notes in Computer Science, 13054 . Springer International Publishing , pp. 360-364. ISBN 9783030891763
Abstract
This work proposes a novel solution to the problem of covering a bounded grid world using a swarm of robotic agents. The controller requires no run-time memory and only few, discrete sensory inputs. Two variants of the solution to the problem are studied, one effectively modulating the sensing range based on the agent’s context. It is found that during the dispersion, the controller with sensing range modulation outperforms the default controller in terms of speed and evenness of the dispersion. Due to its simplicity, the solution could be realised on swarms of agents with ultra-low power and computational requirements, making it potentially relevant for large-scale swarm applications.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Editors: |
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Copyright, Publisher and Additional Information: | © Springer Nature Switzerland AG 2021. This is an author-produced version of a paper subsequently published in Fox C., Gao J., Ghalamzan Esfahani A., Saaj M., Hanheide M., Parsons S. (eds) Towards Autonomous Robotic Systems. TAROS 2021. Lecture Notes in Computer Science, vol 13054. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Area coverage; Multi-robot system; Swarm robotics |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 14 Feb 2022 14:56 |
Last Modified: | 31 Oct 2022 01:13 |
Status: | Published |
Publisher: | Springer International Publishing |
Series Name: | Lecture Notes in Computer Science |
Refereed: | Yes |
Identification Number: | 10.1007/978-3-030-89177-0_37 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:183550 |