Title: Analysis and verification of terrain coverage algorithm based on wasp swarm

Authors: Guo-you Zhang; Jian-chao Zeng

Addresses: College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou 730050, China; Complex System and Computational Intelligence Laboratory, Taiyuan University of Science and Technology, Taiyuan 030024, China. ' Complex System and Computational Intelligence Laboratory, Taiyuan University of Science and Technology, Taiyuan 030024, China

Abstract: Terrain coverage is one of basic problems in swarm robotics. Terrain coverage algorithm based on wasp swarm is a novel terrain coverage algorithm which is inspired by wasp division labour expressed by wasp response threshold. This paper introduces the terrain coverage algorithm based on wasp swarm and applies average probabilistic method to analyse the coverage performance of algorithm, which makes it possible to guide the selection of parameters in our algorithm. Final results show that the analysis results are basically in accordance with that of simulation. The mathematical method is effective under some constraint conditions.

Keywords: swarm robotics; wasp swarm; response threshold; terrain coverage; swarm intelligence; simulation; autonomous robots; multi-robot systems; multiple robots.

DOI: 10.1504/IJMIC.2011.043147

International Journal of Modelling, Identification and Control, 2011 Vol.14 No.4, pp.250 - 257

Published online: 21 Mar 2015 *

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