Group of Robots Inspired by Swarm Robotics Exploring Unknown Environments

摘要

This paper's goal is to apply concepts of Swarm Robotics and a Fuzzy Logic Controller (FLC) on multiple autonomous mobile robots (multi-agents) in order to complete a foraging task in semi-unknown or unknown environments. In this work the limits of the searching area are known, but everything within it is unknown. The foraging task simulates a real life application of robots on rescue missions. Although it is a simulated environment, the autonomy of the robots for this kind of operation is tested in different simulated scenarios. A reactive (real-time) architecture is used to enhance the robots global robustness on dealing with unpredictable situations. It is expected to collaborate and serve as inspiration for future works on this research area.