Distributed Painting by a Swarm of Robots with Unlimited Sensing Capabilities and Its Simulation
This addresses the task of distributed painting for robotics swarms, but it is incremental as it builds on existing models like Wait-Observe-Compute-Move.
The paper tackles the problem of painting a known rectangular area using a swarm of autonomous robots by dividing the region into cells and assigning them based on robot rankings, with a simulation implemented in Player/Stage on Ubuntu 10.04.
This paper presents a distributed painting algorithm for painting a priori known rectangular region by swarm of autonomous mobile robots. We assume that the region is obstacle free and of rectangular in shape. The basic approach is to divide the region into some cells, and to let each robot to paint one of these cells. Assignment of different cells to the robots is done by ranking the robots according to their relative positions. In this algorithm, the robots follow the basic Wait-Observe-Compute-Move model together with the synchronous timing model. This paper also presents a simulation of the proposed algorithm. The simulation is performed using the Player/Stage Robotic Simulator on Ubuntu 10.04 (Lucid Lynx) platform.