LIVS: Local Interaction via Virtual Stigmergy coordination in distributed search and collective cleanup

Abstract— Distributed coordination is critical for a multirobot system in hazardous waste cleanup under a dynamic environment. To achieve higher efficiency as well as robustness, a bio-inspired Local Interaction via Virtual Stigmergy (LIVS) coordination approach is proposed in this paper. This new meta-heuristic integrates two mechanisms - stigmergy-based autocatalytic mechanism and Particle Swarm Optimization cognitive capabilities through local interaction – into one efficient approach. The proposed LIVS algorithm has been implemented on both self-developed simulator and embodied robot simulator Player/Stage in a searching task. The simulation results demonstrate the feasibility, robustness, and scalability of the methods with real-world constraints.

• Type: Conference
• Year: 2007
• Where: IROS
• Authors: Yan Meng, Jing Gan
• Keywords: Bio-inspired Local Interaction, Hazardous Waste Cleanup, IROS 2007, Local Interaction, Robotics