Robotics: Science and Systems I

Blind Swarms for Coverage in 2-D

Vin de Silva, Robert Ghrist, Abubakr Muhammad

Abstract: We consider coverage problems in robot sensor networks with minimal sensing capabilities. In particular, we demonstrate that a "blind" swarm of robots with no localization and only a weak form of distance estimation can rigorously determine coverage in a bounded planar domain of unknown size and shape. The methods we introduce come from algebraic topology.



    AUTHOR    = {Vin de Silva and Robert Ghrist and Abubakr Muhammad},
    TITLE     = {Blind Swarms for Coverage in {2-D}},
    BOOKTITLE = {Proceedings of Robotics: Science and Systems},
    YEAR      = {2005},
    ADDRESS   = {Cambridge, USA},
    MONTH     = {June},
    DOI       = {10.15607/RSS.2005.I.044}