Superadditive effect of multi-robot coordination in the exploration of unknown environments via stigmergy

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 show...

Full description

Saved in:
Bibliographic Details
Published inNeurocomputing (Amsterdam) Vol. 148; pp. 83 - 90
Main Authors Kuyucu, Tüze, Tanev, Ivan, Shimohara, Katsunori
Format Journal Article Conference Proceeding
LanguageEnglish
Published Amsterdam Elsevier B.V 19.01.2015
Elsevier
Subjects
Applied sciences
Computer science; control theory; systems
Control theory. Systems
Exact sciences and technology
Exploration
Multi-robot coordination
Pheromones
Robotics
Stigmergy
Swarm robotics
Multi-robot coordination
Exploration
Pheromones
Stigmergy
Swarm robotics
Animal communication
Scanning
Probabilistic approach
Coordination
Pheromone
Modeling
Robotics
Guidance
Multiagent system
Self organization
Incomplete information
Formation
Robot
Online AccessGet full text

Cover

More Information
Summary: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.
ISSN:0925-2312
1872-8286
DOI:10.1016/j.neucom.2012.07.062