Development and implementation of swarm sweep cleaning protocol for quadrotor unmanned aerial vehicle (QUAV) swarm

摘要

This study aims to implement the SWEEP cleaning protocol in a swarm of flying robots. The dynamic cleaners' problem is one of the most popular application of swarm intelligence. The swarm is tasked to cover the target area in an optimized manner. It starts with an area where in a contamination spreads. The swarm is tasked to decontaminate the area and suppress the contamination. The accuracy and speed of cleaning is measured in static and dynamic contamination spreading with varying spreading time. Also, swarm members are increase in the given conditions. Experiment shows that there is an average decrease in cleaning time of 12.87% for every increase in swarm member number. The accuracy of the system is at cleaning the area is 89.8%. The completion of this research paves the way for several real life applications. Some of this will include search and rescue, target searching, and surveillance operations.