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Frontier-led Swarming: Robust Multi-Robot Coverage of Unknown Environments
[article]
2022
arXiv
pre-print
This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for maintaining a close-knit formation and frontier search for driving exploration and coverage. Inspired by natural systems in which large numbers of simple agents (e.g., schooling fish, flocking birds, swarming insects) perform complicated collective behaviors for
arXiv:2111.14295v2
fatcat:j4uyxptrlrdr3lhpbrjlfxvvee