A macroscopic model for multi-robot stigmergic coverage

Abstract

This paper explores a multi-robot coverage approach called StiCo (for Stigmergic Coverage) by deriving a probabilistic macroscopic model. The proposed model makes it possible to quickly and efficiently study the swarm-type behavior of StiCo, and also allows for making predictions about its long term behavior. The model is validated in a twofold way: through computer simulations, and with real robots.