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2020 | OriginalPaper | Chapter

Multi-robot Coverage Using Self-organized Networks for Central Coordination

Authors: Aryo Jamshidpey, Weixu Zhu, Mostafa Wahby, Michael Allwright, Mary Katherine Heinrich, Marco Dorigo

Published in: Swarm Intelligence

Publisher: Springer International Publishing

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Abstract

We propose an approach to multi-robot coverage that combines aspects of centralized and decentralized control, based on the existing ‘mergeable nervous systems’ concept. In our approach, robots self-organize a dynamic ad-hoc communication network for distributed asymmetric control, enabling a degree of central coordination. In the coverage task, simulated ground robots coordinate with UAVs to explore an arena as uniformly as possible. Compared to strictly centralized and decentralized approaches, we test our approach in terms of coverage percentage, coverage uniformity, scalability, and fault tolerance.
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Metadata
Title
Multi-robot Coverage Using Self-organized Networks for Central Coordination
Authors
Aryo Jamshidpey
Weixu Zhu
Mostafa Wahby
Michael Allwright
Mary Katherine Heinrich
Marco Dorigo
Copyright Year
2020
DOI
https://doi.org/10.1007/978-3-030-60376-2_17

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