Swarm dispersion via potential fields, leader election, and counting hops

Abstract

We examine how robots using only laser range data and the ability to communicate within a certain radius may disperse in a complex unknown environment. We demonstrate an algorithm which attempts to maximize coverage while minimizing loss of connectivity during deployment. We demonstrate using Player/Stage that this algorithm can reliably achieve significant coverage over a variety of environments. © 2010 Springer-Verlag Berlin Heidelberg.