Distributed Algorithms for Dispersion in Indoor Environments Using a Swarm of Autonomous Mobile Robots

Abstract

We describe a set of distributed algorithms used to disperse a large group of autonomous mobile robots efficiently throughout an indoor environment. Only local inter-robot communication and processing is used. Ad-hoc communications network topologies formed by gradient floods spread messages and guide robot motion. Special attention has been given to doors, hallways, and other constrictions. The network maintains a route to chargers to allow self-charging.