Directed stigmergy-based control for multi-robot systems

Multi-robot systems are particularly useful in tasks that require searching large areas such as planetary science exploration, urban search and rescue, or landmine remediation. In order to overcome the inherent complexity of controlling multiple robots, the user must be able to give high-level, goal driven direction to the robot team. Since human robot interaction is a relatively new discipline, it is helpful to look to existing systems for concepts, analogies, or metaphors that might be utilized in building useful systems. Inspiration from natural decentralized systems guides the development of a computer simulation for stigmergy-based control of multi-robot system, and the interface with which an operator can interact and control mobile robots. In-depth description of the design process includes a description of a basic stigmergy-based control system and an innovative Directed Stigmergy control system that facilitates operator control of the robot team in an interesting and surprisingly effective way.