Coalition game-based distributed coverage of unknown environments by robot swarms

Ke Cheng, Prithviraj Dasgupta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

We consider the problem of distributed exploration or coverage of an unknown environment by a swarm of mobile mini-robots that have limited memory, computation and communication capabilities. We describe a novel mechanism of distributed coverage of an unknown environment by swarmed robots that can dynamically merge and split into structured teams or exchange team members to improve the efficiency of solving the coverage problem. Our mechanism combines the technique of swarm-based flocking with coalition games to enable robots dynamically select utility maximizing teams that move in formation.

Original languageEnglish (US)
Title of host publication7th International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS 2008
PublisherInternational Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS)
Pages1169-1172
Number of pages4
ISBN (Print)9781605604701
StatePublished - 2008
Event7th International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS 2008 - Estoril, Portugal
Duration: May 12 2008May 16 2008

Publication series

NameProceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS
Volume2
ISSN (Print)1548-8403
ISSN (Electronic)1558-2914

Conference

Conference7th International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS 2008
CountryPortugal
CityEstoril
Period5/12/085/16/08

Keywords

  • Coalition game
  • Distributed coverage
  • Flocking
  • Swarming

ASJC Scopus subject areas

  • Artificial Intelligence
  • Software
  • Control and Systems Engineering

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