From Ants to Birds: A Novel Bio-Inspired Approach to Online Area Coverage
From Ants to Birds: A Novel Bio-Inspired Approach to Online Area Coverage
复制标题
从蚂蚁到鸟类：一种新颖的仿生方法来覆盖在线区域
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
G. Kaminka
中科院分区：
文献类型：
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作者：
L. Giuggioli;Idan Arye;A. Robles;G. Kaminka
在线覆盖路径规划是一个典型的多机器人任务，其目标是最小化机器人访问未知区域中每个点所需的时间。文献中已经探索了两种主要的方法：一种受蚂蚁行为启发的污名方法，依赖于环境的积极标记。相比之下，协作方法依赖于本地化、位置记忆和全球沟通。在本文中，我们报告了一种新的方法，它的灵感来自于区域鸟鸣，它借鉴了以前的两种方法：它依赖于定位和记忆，而不是全球通信。我们对这一模型进行了详细的分析和实证评价。
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.