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ATAL
2008
Springer

Coalition game-based distributed coverage of unknown environments by robot swarms

9 years 10 days ago
Coalition game-based distributed coverage of unknown environments by robot swarms
We consider the problem of distributed exploration or coverage of an unknown environment by a swarm of mobile minirobots that have limited memory, computation and communication capabilities. We describe a novel mechanism of distributed coverage of an unknown environment by swarmed robots that can dynamically merge and split into structured teams or exchange team members to improve the efficiency of solving the coverage problem. Our mechanism combines the technique of swarm-based flocking with coalition games to enable robots dynamically select utility maximizing teams that move in formation. Categories and Subject Descriptors I.2.9 [Artificial Intelligence]: Robotics--Autonomous Vehicles; I.2.11 [Artificial Intelligence]: Distributed Artificial Intelligence--Multi-agent Systems
Ke Cheng, Prithviraj Dasgupta
Added 12 Oct 2010
Updated 12 Oct 2010
Type Conference
Year 2008
Where ATAL
Authors Ke Cheng, Prithviraj Dasgupta
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