Distributed area coverage using robot flocks

Ke Cheng, Yi Wang, Prithviraj Dasgupta

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

10 Scopus citations

Abstract

We consider the problem of distributed, autonomous area coverage using a team of mobile mini-robots that have limited sensing and computation capabilities. Specifically, we investigate the following hypothesis - can mini-robots organized in small teams improve the efficiency of area coverage as compared to area coverage using robots that are not organized as teams? We envisage that team formation for mini-robots can be realized through simple, nature-inspired formation control algorithms such as flocking. We provide coordination mechanisms between robots that allow the robots forming a team to dynamically correct their relative position and move in formation, as well as, to dynamically adapt their position and orientation on encountering an obstacle. We have extensively tested our formation control mechanism and area coverage algorithm using accurate models of e-puck robots within the Webots robot simulator, as well as on physical e-puck robots. Our results indicate that our team-based area coverage technique achieves comparable coverage with lower overhead with respect to other distributed area coverage mechanisms for mini-robots.

Original languageEnglish (US)
Title of host publication2009 World Congress on Nature and Biologically Inspired Computing, NABIC 2009 - Proceedings
Pages678-683
Number of pages6
DOIs
StatePublished - 2009
Event2009 World Congress on Nature and Biologically Inspired Computing, NABIC 2009 - Coimbatore, India
Duration: Dec 9 2009Dec 11 2009

Publication series

Name2009 World Congress on Nature and Biologically Inspired Computing, NABIC 2009 - Proceedings

Conference

Conference2009 World Congress on Nature and Biologically Inspired Computing, NABIC 2009
CountryIndia
CityCoimbatore
Period12/9/0912/11/09

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Software

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    Cheng, K., Wang, Y., & Dasgupta, P. (2009). Distributed area coverage using robot flocks. In 2009 World Congress on Nature and Biologically Inspired Computing, NABIC 2009 - Proceedings (pp. 678-683). [5393461] (2009 World Congress on Nature and Biologically Inspired Computing, NABIC 2009 - Proceedings). https://doi.org/10.1109/NABIC.2009.5393461