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Distributed area coverage using robot flocks

Ke Cheng, Yi Wang, Prithviraj Dasgupta
2009 2009 World Congress on Nature & Biologically Inspired Computing (NaBIC)  
We consider the problem of distributed, autonomous area coverage using a team of mobile mini-robots that have limited sensing and computation capabilities.  ...  Our results indicate that our teambased area coverage technique achieves comparable coverage with lower overhead with respect to other distributed area coverage mechanisms for mini-robots.  ...  Conclusions and Future Work In this paper, we have described techniques for flocking-based distributed multi-robot formations used for area coverage, and, to the best of our knowledge, this is one of the  ... 
doi:10.1109/nabic.2009.5393461 dblp:conf/nabic/ChengDW09 fatcat:tioa6iae4nenrgrrjfwsafna44

BIO-INSPIRED COVERAGE OF INVISIBLE HAZARDOUS SUBSTANCES IN THE ENVIRONMENT

JOHN O. OYEKAN, HUOSHENG HU, DONGBING GU
2010 International Journal of Information Acquisition  
By using the advantages offered by swarm robotics, it is possible to achieve a collective mapping of an invisible pollutant spread over a large area.  ...  Simulation is used to explore the feasibility of the proposed controller and then a brief discussion on how to implement it onto a real robotic platform is presented.  ...  Introduction The technique used to provide sensor coverage of an area for safety or pollution monitoring is very important.  ... 
doi:10.1142/s0219878910002154 fatcat:tpasvo5exrgkpghu2jlowkptty

Ant Robotic Swarm for Visualizing Invisible Hazardous Substances

John Oyekan, Huosheng Hu
2013 Robotics  
and memory resources) form a visual representation of distributed hazardous substances within an environment dominated by diffusion processes using a decentralized approach.  ...  Inspired by the simplicity of how nature solves its problems, this paper presents a novel approach that would enable a swarm of ant robotic agents (robots with limited sensing, communication, computational  ...  Furthermore, work has also been carried out regarding coverage using ant robots.  ... 
doi:10.3390/robotics2010001 fatcat:lilpgr4h25fqzbstyt6yae3pma

Towards distributed coverage of complex spatiotemporal profiles

John Oyekan, Huosheng Hu
2011 2011 IEEE International Conference on Robotics and Biomimetics  
Inspired by self-organization in natural organisms, an approach that would enable robotic agents form a visual representation of an invisible distributed hazardous substance is presented.  ...  Such a resource would enable humans observe and stay away from areas of high hazardous substance concentration.  ...  This behavior was utilized in addition with a flocking behavior using a behavior based paradigm in robotics.  ... 
doi:10.1109/robio.2011.6181600 dblp:conf/robio/OyekanH11 fatcat:vyzrsapqsrdhjj5tt5ksvozmue

Multi-Robot Formation Control via a Real-Time Drawing Interface [chapter]

Sandro Hauri, Javier Alonso-Mora, Andreas Breitenmoser, Roland Siegwart, Paul Beardsley
2013 Springer Tracts in Advanced Robotics  
Firstly the paper presents shaped flocking, a novel algorithm to control multiple robots-this extends existing flocking methods so that robot behavior is driven by both flocking forces and forces arising  ...  The computation of robot position, robot motion, and robot color is automatic, including scaling to the available number of robots.  ...  For the latter, initial distributions that are homogeneously distributed over an area containing the shape typically present better results.  ... 
doi:10.1007/978-3-642-40686-7_12 fatcat:uu6ytljojzddlmp45dbebq4kai

A novel bio-inspired distributed coverage controller for pollution monitoring

John Oyekan, Huosheng Hu, Dongbing Gu
2011 2011 IEEE International Conference on Mechatronics and Automation  
It is shown that by combining a source seeking behaviourbacteria chemotaxis and a group foraging behaviour -flocking, it is possible to provide coverage to an area of interest and obtain results similar  ...  The Voronoi partition method can provide a coverage to an area of interest and has gained a lot of popularity when compared with other coverage schemes such as virtual springs and deterministic annealing  ...  They showed how a group of robotic agents P could be controlled to achieve optimal coverage of a simulated spatiotemporal distribution φ(q) in an area Q.  ... 
doi:10.1109/icma.2011.5986371 fatcat:6srlyaehyjhi7chzyc7gnnykom

A model for using self-organized agents to visually map environmental profiles

John Oyekan, Dongbing Gu, Huosheng Hu
2014 Ecological Complexity : An International Journal on Biocomplexity in the Environment and Theoretical Ecology  
In Cortes et al. (2004) , they showed how a group of robotic agents P, could be controlled to achieve optimal coverage of a simulated spatial distribution C(X) in an area Q.  ...  As a result, the robot should spend less time in areas with little or no pollutants and more time in areas containing pollutants in order to map the pollutant distribution at that location.  ... 
doi:10.1016/j.ecocom.2014.04.004 fatcat:4re3j4253vbjzgrws2uaxbihxq

Exploiting bacterial swarms for optimal coverage of dynamic pollutant profiles

John Oyekan, Huosheng Hu, Dongbing Gu
2010 2010 IEEE International Conference on Robotics and Biomimetics  
Such an approach would be very useful if emergency services need to systematically and strategically evacuate an area affected by invisible substance especially in a situation where evacuation resources  ...  Inspired by the simplicity of how nature solves its problems, an approach that would enable robotic agents form a visual representation of an invisible hazardous substance is presented.  ...  However, by using a flock of robots, it is possible to visually represent the distribution of the invisible pollutant so that emergency services could use them as a reference upon which to systematically  ... 
doi:10.1109/robio.2010.5723586 dblp:conf/robio/OyekanHG10 fatcat:wash7mjxwvbhnailtfwyd2s5wu

Neighbor Topology for Dynamic Plane Coverage in Swarm Leading Control

Keitaro Naruse, Tatsuya Sato
2012 International Journal of Artificial Life Research  
If the topology is a tight one, the swarm can be stable but the coverage area can be limited in a small area. On the other hand, if it is a loose one, an opposite thing can be happened.  ...  In the process, the topology of the robots affects to the efficiency of the dynamic plane coverage problem.  ...  Each of the robots can know the relative speed and position of neighboring robots and decides its motion using them.  ... 
doi:10.4018/jalr.2012010106 fatcat:tlgvzgqer5bv7dbiqrceynbdya

Effects of Multi-Robot Team Formations on Distributed Area Coverage

Prithviraj Dasgupta, Taylor Whipple, Ke Cheng
2011 International Journal of Swarm Intelligence Research  
We consider the problem of distributed coverage of an initially unknown environment using a multi-robot system.  ...  size of the environment and the presence of obstacles and walls on the performance of the area coverage operation.  ...  CONCLUSION AND FUTURE WORK In this paper, we have described a technique for multi-team flocking for distributed area coverage.  ... 
doi:10.4018/ijsir.2011010111010103 fatcat:en35lovxjnh2fbu4rc4jxqesau

Guest Editorial Special Section on Aerial Swarm Robotics

S.-J. Chung, A. Paranjape, P. Dames, S. Shen, V. Kumar
2018 IEEE Transactions on robotics  
Park, the former Editor-in-Chief of the IEEE TRANSACTIONS ON ROBOTICS (T-RO) for his guidance throughout the whole process to make this special section possible. Special thanks go to C.  ...  The paper by Paranjape et al. explores the use of aerial robots to protect an airspace, such as around an airport, from intrusion by a flock of birds.  ...  The paper by Trotta et al. proposes deployment strategies that allow a swarm of UAVs to maximize the coverage of a target area, and simultaneously guarantee continuous service.  ... 
doi:10.1109/tro.2018.2860098 fatcat:vqua4zqm2rcotnxiche4ok7j6e

Bioinspired Environment Exploration Algorithm in Swarm Based on Lévy Flight and Improved Artificial Potential Field

Chen Wang, Dongliang Wang, Minqiang Gu, Huaxing Huang, Zhaojun Wang, Yutong Yuan, Xiaomin Zhu, Wu Wei, Zhun Fan
2022 Drones  
The method is especially suitable for the camouflaged flocking exploration environment of bionic robots such as flapping drones.  ...  The agent is extended to the swarm level using the APF method through the LF search environment. Virtual leaders generate moving steps to explore the environment through the LF mechanism.  ...  The task evaluation indicators used in this study are as follows: (1) Time for the swarm to find target; (2) The coverage area of the swarm in a period of time; (3) The change of agents' area coverage  ... 
doi:10.3390/drones6050122 fatcat:e2mxeqi6cnfczic3vug7xjqx4e

Exploiting bacteria swarms for pollution mapping

John Oyekan, Huosheng Hu, Dongbing Gu
2009 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)  
area.  ...  We use simulation results to validate our approach and then briefly discuss how to implement the controller onto a real robotic platform.  ...  Lilienthal et al achieve an effective coverage of an area by moving their agents in a predefined manner in the area to be covered [5] .  ... 
doi:10.1109/robio.2009.5420630 dblp:conf/robio/OyekanHG09 fatcat:l2wqgfaqffdmpk7hqp655zemty

Frontier-led Swarming: Robust Multi-Robot Coverage of Unknown Environments [article]

Vu Phi Tran, Matthew A. Garratt, Kathryn Kasmarik, Sreenatha G. Anavatti
2022 arXiv   pre-print
., schooling fish, flocking birds, swarming insects) perform complicated collective behaviors for efficiency and safety, the first element uses three simple rules to maintain a swarm formation.  ...  We measure both coverage performance and swarm formation statistics as indicators of the robots' ability to explore effectively while maintaining a formation conducive to short-range communication.  ...  Despite the initial uniform distribution of robots in the large, simulated urban area, we see from Table V that robots using the FrontierSwarm, GreedySwarm and Swarm approaches move so that they group  ... 
arXiv:2111.14295v2 fatcat:j4uyxptrlrdr3lhpbrjlfxvvee

A morphogenetic framework for self-organized multirobot pattern formation and boundary coverage

Hongliang Guo, Yaochu Jin, Yan Meng
2012 ACM Transactions on Autonomous and Adaptive Systems  
Various case studies of multirobot pattern formation and boundary coverage show the effectiveness of the framework.  ...  The proposed framework does not need a global coordinate system, which makes it more practical to be implemented in a physical robotic system.  ...  As a special case of area coverage, multirobot boundary coverage requires the robots to cover the boundary instead of the entire area.  ... 
doi:10.1145/2168260.2168275 fatcat:2xmgb4hq4fdqtbugxe2zkzayei
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