Title :
A Discrete Stochastic Process for Analysis of Terrain Coverage Algorithm Based on Wasp Swarm
Author :
Zhang, Guo-you ; Zeng, Jian-chao
Author_Institution :
Coll. of Electr. & Inf. Eng., Lanzhou Univ. of Technol., Lanzhou, China
Abstract :
Terrain coverage is one of basic problems in swarm robotics. Terrain coverage algorithm based on wasp swarm is a novel terrain coverage algorithm which is inspired of wasp division labor expressed by wasp response threshold. This paper introduces the terrain coverage algorithm based on wasp swarm and applies a model of discrete stochastic process to analyze the coverage performance of algorithm, such as Mathematical expectation of average coverage rate, which make possible to guide the selection of parameters in our algorithm. Simulation results show the method is effective.
Keywords :
discrete systems; mobile robots; stochastic systems; average coverage rate; discrete stochastic process; mathematical expectation; swarm robotics; terrain coverage algorithm analysis; wasp division labor; wasp response threshold; wasp swarm; Algorithm design and analysis; Mathematical model; Robot kinematics; Robot sensing systems; Simulation; Stochastic processes; response threshold; swarm robotics; terrain coverage; wasp swarm;
Conference_Titel :
Computing, Measurement, Control and Sensor Network (CMCSN), 2012 International Conference on
Conference_Location :
Taiyuan
Print_ISBN :
978-1-4673-2033-7
DOI :
10.1109/CMCSN.2012.49
