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Luca Giuggioli, Idan Arye, Alexandro Heiblum Robles, and Gal A. Kaminka.
From Ants to Birds: A Novel Bio-Inspired Approach to Online Area Coverage. In Spring Berman, Melvin Gauci, Emilio
Frazzoli, Andreas Kolling, Roderich Gross, Alcherio Martinoli, and Fumitoshi Matsuno, editors, 13th International
Symposium on Distributed Autonomous Robotic Systems (DARS-2016), Springer, November 2016.
Online coverage path planning is a canonical multi-robot task, where the objective is to minimize the time it takes for robots to visit every point in an unknown area. Two general major approaches have been explored in the literature: a stigmergic approach, inspired by ant behavior, relies on active marking of the environment. In contrast, the collaborative approach relies instead on localization, memory of positions, and global communications. In this paper, we report on a new approach, inspired by territorial bird chirping, which borrows from both previous approaches: it relies on localization and memory, but not on global communications. We provide a detailed analytic and empirical evaluation of this model.
@InCollection{dars16luca,
author = {Luca Giuggioli and Idan Arye and Alexandro Heiblum Robles and Gal A. Kaminka},
title = {From Ants to Birds: A Novel Bio-Inspired Approach to Online Area Coverage},
booktitle = DARS-16,
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publisher = {Springer},
year = {2016},
editor = {Spring Berman and Melvin Gauci and Emilio Frazzoli and Andreas Kolling and Roderich Gross and Alcherio Martinoli and Fumitoshi Matsuno},
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month = {November},
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abstract = {Online coverage path planning is a canonical multi-robot task, where the objective is to minimize the time it takes for robots to visit every point in an unknown area. Two general major approaches have been explored in the literature: a stigmergic approach, inspired by \emph{ant behavior}, relies on active marking of the environment. In contrast, the collaborative approach relies instead on localization, memory of positions, and global communications. In this paper, we report on a new approach, inspired by territorial \emph{bird chirping}, which borrows from both previous approaches: it relies on localization and memory, but not on global communications. We provide a detailed analytic and empirical evaluation of this model.},
OPTannote = {annote},
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}
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