: Swarm robots are an important area of mobile robotics inspired by the collective behavior of animals for the execution of activities and, using this premise, the present work aims to present a swarm robotics algorithm for topological mapping of environments. A comparison was made with another article in the literature that presents a similar technique, where it was possible to see an improvement in performance in the proposed parameters. An assessment of closed-loop control was also carried out, using a proposed evaluation metric, which showed a minor impact with the increase in the number of agents, and in smaller environments.
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Honeycomb Layout Inspired Motion of Robots for Topological Mapping
Semantic Scholar · Engineering · 2021
Abstract
: Swarm robots are an important area of mobile robotics inspired by the collective behavior of animals for the execution of activities and, using this premise, the present work aims to present a swarm robotics algorithm for topological mapping of environments. A comparison was made with another article in the literature that presents a similar technique, where it was possible to see an improvement in performance in the proposed parameters. An assessment of closed-loop control was also carried out, using a proposed evaluation metric, which showed a minor impact with the increase in the number of agents, and in smaller environments.
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