engleski

Multi-agent Swarm based Localization of Hazardous Events

Swarm robotic concept has become a topic of extensive research in hazardous environments where fault tolerant, robust and energy ecient approach is needed. In this paper we present behavioral based algorithm for outdoor environment exploration. This work is inspired by ant colony and honey bees behavior models. Our goal is to control agent's motion using simple rules and not to rely on wireless com- munication. Agents perform random walk combined with simple heuristic pheromone based rules which prevent frequent visits of previousy visited locations. In order to determine heuristic parameters which maximize area coverage, we optimize parameters by simulating swarm behavior in Matlab. Furthermore, we take into the account agent limitations, such as battery lifetime and we model a probability success of a mission with respect to that parameter.

multi-agent systems; swarm; mobile agents

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