Swarm Based Coverage Using Multiple Informed Leaders

  • Ahmad Din Department of Computer Science, COMSATS Institute of Information Technology, Abbottabad, Pakistan
  • Ashfaq Ahmed Department of Computer Science, COMSATS Institute of Information Technology, Abbottabad, Pakistan
  • Abbas Khalid Department of Computer Science, COMSATS Institute of Information Technology, Abbottabad, Pakistan
  • Owais Khan Department of Computer Science, COMSATS Institute of Information Technology, Abbottabad, Pakistan
  • Kashif Zia Faculty of Computing and Information Technology,  Sohar University, Sohar, Oman

Abstract

Abstract— Robotic exploration typically involves navigation through unknown terrains. In this paper, collaborative strategy for coverage is presented, in which the concept of informed agents as a leader in a swarm has been introduced for autonomous coverage. The small population of robots in large swarms act as informed leaders, and help others to accomplish their tasks related to the exploration. These informed leaders receive information about the environment from external sources (e.g. humans, media etc.), and influence uninformed robots using their swarm behaviors. Multiple Swarm behaviors have been designed for swarm navigation, and dynamic selection of the informed leaders. This approach has been tested in simulation of homogeneous swarm, with and without informed leaders. The number of informed agents needed to guide the swarm effectively has been investigated as well. Experimental results showed that the introduction of informed agents improves the coverage task

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Author Biographies

Ashfaq Ahmed, Department of Computer Science, COMSATS Institute of Information Technology, Abbottabad, Pakistan

 

 

Owais Khan, Department of Computer Science, COMSATS Institute of Information Technology, Abbottabad, Pakistan

 

 

Kashif Zia, Faculty of Computing and Information Technology,  Sohar University, Sohar, Oman

 

 

Published
2018-06-26
How to Cite
DIN, Ahmad et al. Swarm Based Coverage Using Multiple Informed Leaders. Sukkur IBA Journal of Computing and Mathematical Sciences, [S.l.], v. 2, n. 1, p. 61-69, june 2018. ISSN 2522-3003. Available at: <http://journal.iba-suk.edu.pk:8089/SIBAJournals/index.php/sjcms/article/view/65>. Date accessed: 17 july 2018. doi: https://doi.org/10.30537/sjcms.v2i1.65.
Section
Research Articles