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From Ants to Birds: A Novel Bio-Inspired Approach to Online Area Coverage

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Original languageEnglish
Title of host publicationDistributed Autonomous Robotic Systems
Subtitle of host publicationThe 13th International Symposium
Publisher or commissioning bodySpringer
Number of pages13
ISBN (Electronic)9783319730080
ISBN (Print)9783319730066
DateAccepted/In press - 7 Sep 2016
DatePublished (current) - 14 Mar 2018
Event13th International Symposium on Distributed Autonomous Robotic Systems - Natural History Museum, London, United Kingdom
Duration: 6 Nov 20169 Nov 2016

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438


Conference13th International Symposium on Distributed Autonomous Robotic Systems
Abbreviated titleDARS 2016
CountryUnited Kingdom
Internet address


Online coverage path planning is a canonical multi-robot task, where the objective is to minimize the time it takes for robots to visit every point in an unknown area. Two general major approaches have been explored in the literature: a stigmergic approach, inspired by ant behavior, relies on active marking of the environment. In contrast, the collaborative approach relies instead on localization, memory of positions, and global communications. In this paper, we report on a new approach, inspired by territorial bird chirping, which borrows from both previous approaches: it relies on localization and memory, but not on global communications. We provide a detailed analytic and empirical evaluation of this model.


13th International Symposium on Distributed Autonomous Robotic Systems

Abbreviated titleDARS 2016
Duration6 Nov 20169 Nov 2016
Location of eventNatural History Museum
CountryUnited Kingdom
Web address (URL)
Degree of recognitionInternational event

Event: Conference

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    Rights statement: This is the author accepted manuscript (AAM). The final published version (version of record) is available online via Springer at . Please refer to any applicable terms of use of the publisher.

    Accepted author manuscript, 785 KB, PDF document


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