By Topic

A swarm-based robot team coordination protocol for mine detection and unknown space discovery

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
F. De Rango ; D.E.I.S. Dept, University of Calabria, 87036, Arcavacata di Rende (CS) ; N. Palmieri

In this paper, we consider the problem of exploring an unknown environment with a team of robots to detect and disarm mines. The goal is to minimize the overall exploration time and to disarm all mines in a landscape. We present two approaches for the coordination of robots. An indirect communication, stigmergy, inspired to biology is used to help robots to cover the overall area in a minimum time. In this way the robot simultaneously explore different regions of their environment. Moreover, a new coordination protocol called Ant-based Task and Robot Coordination (ATRC) is proposed to recruit robots and disarm mines in a minimum amount of time. This approach has been implemented and tested extensively in a simulation environment. The results showed the best convergence time of proposal in term of space discovery in comparison with a well-known algorithm such as the Vertex Ant Walk (VAW). Moreover the effectiveness of proposed protocol is evaluated varying network parameters in the simulation.

Published in:

2012 8th International Wireless Communications and Mobile Computing Conference (IWCMC)

Date of Conference:

27-31 Aug. 2012