Modeling the coordination of a multiple robots using nature inspired approaches

Abstract

The work focuses on the problem of multiple robots coordination in search and rescue mission. In particular, decentralized swarm techniques, that use mechanisms based on Swarm Intelligence, are presented. Essentially, two approaches are compared. The first uses a one-hop communication mechanism to spread locally the information among the robots and a modified Firefly meta-heuristics is proposed. The second approach, is based on a multi-hop communication mechanism based on Ant Colony Optimization. We have conducted experiments for evaluating what is the best approach to use considering different parameters of the system.