Journal
NEUROCOMPUTING
Volume 148, Issue -, Pages 83-90Publisher
ELSEVIER
DOI: 10.1016/j.neucom.2012.07.062
Keywords
Stigmergy; Pheromones; Swarm robotics; Exploration; Multi-robot coordination
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Funding
- Japan Society for the Promotion of Science (JSPS) [P10780]
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We propose a simple yet efficient way of coordinating multiple homogeneous robots in the exploration of unknown environments. A guided probabilistic exploration of an unknown environment is achieved via combining random movement with pheromone-based stigmergic guidance. The emergent strategy is shown to provide a scalable solution to multi-robot coordination for the area exploration task, with a faster than linear speed-up with the addition of new robots. We utilize an approach to evaluating the desired exploration behavior that emphasizes surveying rather than scanning the environment. We analyze the emergent exploration strategies and demonstrate their effectiveness in higher complexity environments. (C) 2014 Elsevier B.V. All rights reserved.
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