Abstract
This work investigates a coordination model based on a two-dimensional cellular automata applied to a team of surveillance robots. The synergy among the robots emerges from the indirect communication performed by repulsive pheromone interactions. Five strategies are evaluated for the decision-making related to the next-cell selection: three stochastic (pure, elitist and inertial), one random and one deterministic. The performance of the team performing surveillance are evaluated in respect to two aspects: the number of task cycles (visiting all the rooms) completed in a fixed interval of time and the homogeneity of the environment coverage. Experimental results corroborate the importance of the cooperative pheromone and shows that the decision-making strategies have different inherent skills that can be explored for distinct situations.
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Acknowledgment
GMBO is grateful to Fapemig, CNPq and CAPES financial support. CRT is grateful to CAPES for his scholarship.
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Tinoco, C.R., Oliveira, G.M.B. (2018). Pheromone Interactions in a Cellular Automata-Based Model for Surveillance Robots. In: Mauri, G., El Yacoubi, S., Dennunzio, A., Nishinari, K., Manzoni, L. (eds) Cellular Automata. ACRI 2018. Lecture Notes in Computer Science(), vol 11115. Springer, Cham. https://doi.org/10.1007/978-3-319-99813-8_14
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