A Cognitive Agent-based Model for Multi-Robot Coverage at a City Scale
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- 作者：Kashif Zia ; Ahmad Din ; Khurram Shahzad ; Alois Ferscha
- 关键词：Multi ; robotic ; Distributed coverage problem ; Agent based models
- 刊名：Complex Adaptive Systems Modeling
- 出版年：2017
- 出版时间：December 2017
- 年：2017
- 卷：5
- 期：1
- 全文大小：1668KB
- 刊物主题：Complex Systems; Operation Research/Decision Theory; Simulation and Modeling; Operations Research, Management Science;
- 出版者：Springer Berlin Heidelberg
- ISSN：2194-3206
- 卷排序：5
文摘
BackgroundIn this article, we model a behavior-based strategy of autonomous coverage and exploration at the scale of a city with multiple robots. The behavioral components are motivated by Cepeda et al. (Sensors 12 (9): 12772–12797, 2012) and extended to incorporate into a generic cellular-automata based agent model. These agents are representing homogenous robots with reactive control. Deliberative approaches requires large scale map and large memory, which slowdowns the execution. Our approach is reactive and simple, that is, robots have no prior information about the environment and do not generate a route map as they traverse. However, other robots in neighborhood are detected using local sensors.