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Ant-sweep: a decentral strategy for cooperative cleaning in expanding domains

Published: 13 June 2011 Publication History

Abstract

Several recent works considered cooperative cleaning in static and dynamic environments, which incorporates a swarm of simple robots cleaning an expanding region of contaminated cells in a 2-D grid. However, even the state of the art strategy requires continuously-updated global domain information. In this work-in-progress we examine a strategy operating truly local. Neither in the beginning of a cleaning process, nor later on will our robot swarm receive any global information in order to perform the cooperative cleaning task.

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    cover image ACM Conferences
    SoCG '11: Proceedings of the twenty-seventh annual symposium on Computational geometry
    June 2011
    532 pages
    ISBN:9781450306829
    DOI:10.1145/1998196

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    Association for Computing Machinery

    New York, NY, United States

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    Published: 13 June 2011

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    1. decentral control
    2. swarm robotics

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    SoCG '11
    SoCG '11: Symposium on Computational Geometry
    June 13 - 15, 2011
    Paris, France

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