Knowledge Commons of Institute of Automation，CAS
| Dynamic Frontier-Led Swarming: Multi-Robot Repeated Coverage in Dynamic Environments | |
| Vu Phi Tran; Matthew A. Garratt; Kathryn Kasmarik; Sreenatha G. Anavatti | |
| Source Publication | IEEE/CAA Journal of Automatica Sinica
 |
| ISSN | 2329-9266 |
| 2023 | |
| Volume | 10Issue:3Pages:646-661 |
| Abstract | A common assumption of coverage path planning research is a static environment. Such environments require only a single visit to each area to achieve coverage. However, some real-world environments are characterised by the presence of unexpected, dynamic obstacles. They require areas to be revisited periodically to maintain an accurate coverage map, as well as reactive obstacle avoidance. This paper proposes a novel swarm-based control algorithm for multi-robot exploration and repeated coverage in environments with unknown, dynamic obstacles. The algorithm combines two elements: frontier-led swarming for driving exploration by a group of robots, and pheromone-based stigmergy for controlling repeated coverage while avoiding obstacles. We tested the performance of our approach on heterogeneous and homogeneous groups of mobile robots in different environments. We measure both repeated coverage performance and obstacle avoidance ability. Through a series of comparison experiments, we demonstrate that our proposed strategy has superior performance to recently presented multi-robot repeated coverage methodologies. |
| Keyword | Artificial pheromones distributed control architecture dynamic obstacle avoidance multi-robot coverage stigmergy swarm robotics |
| DOI | 10.1109/JAS.2023.123087 |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.ia.ac.cn/handle/173211/51178 |
| Collection | 学术期刊_IEEE/CAA Journal of Automatica Sinica |
| Recommended Citation GB/T 7714 | Vu Phi Tran,Matthew A. Garratt,Kathryn Kasmarik,et al. Dynamic Frontier-Led Swarming: Multi-Robot Repeated Coverage in Dynamic Environments[J]. IEEE/CAA Journal of Automatica Sinica,2023,10(3):646-661. |
| APA | Vu Phi Tran,Matthew A. Garratt,Kathryn Kasmarik,&Sreenatha G. Anavatti.(2023).Dynamic Frontier-Led Swarming: Multi-Robot Repeated Coverage in Dynamic Environments.IEEE/CAA Journal of Automatica Sinica,10(3),646-661. |
| MLA | Vu Phi Tran,et al."Dynamic Frontier-Led Swarming: Multi-Robot Repeated Coverage in Dynamic Environments".IEEE/CAA Journal of Automatica Sinica 10.3(2023):646-661. |
| Files in This Item: | Download All | |||||
| File Name/Size | DocType | Version | Access | License | ||
| JAS-2022-1390.pdf（7373KB） | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | View Download | |
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