Stigmergic coverage algorithm for multi-robot systems (demonstration)

Abstract

We demonstrate the realization of stigmergic coverage for multi-robot systems. Compared to current state-of-the-art algorithms for multi-robot coverage, our Stigmergy-based Coverage algorithm (StiCo) has several key advantages. In particular, it does not need direct robot-robot communication. Moreover, this algorithm does not require any prior information about the environment. Simulation results illustrate robustness, scalability and simplicity of the algorithm.