Blind Swarms for Coverage in 2-D

摘要

Abstract — We consider coverage problems in robot sensor networks with minimal sensing capabilities. In particular, we demonstrate that a “blind ” swarm of robots with no localization and only a weak form of distance estimation can rigorously determine coverage in a bounded planar domain of unknown size and shape. The methods we introduce come from algebraic topology. I. COVERAGE PROBLEMS Many of the potential applications of robot swarms require information about coverage in a given domain. For example, using a swarm of robot sensors for surveillance and security applications carries with it the charge to maximize, or, preferably, guarantee coverage. Such applications include networks of security cameras, mine field sweeping via networked robots [18], and oceanographic sampling [4]. In these contexts, each