Research Article
Cooperative Pollution Source Exploration and Cleanup with a Bio-inspired Swarm Robot Aggregation
@INPROCEEDINGS{10.1007/978-3-030-67540-0_30, author={Arash Sadeghi Amjadi and Mohsen Raoufi and Ali Emre Turgut and George Broughton and Tom\^{a}š Krajn\^{\i}k and Farshad Arvin}, title={Cooperative Pollution Source Exploration and Cleanup with a Bio-inspired Swarm Robot Aggregation}, proceedings={Collaborative Computing: Networking, Applications and Worksharing. 16th EAI International Conference, CollaborateCom 2020, Shanghai, China, October 16--18, 2020, Proceedings, Part II}, proceedings_a={COLLABORATECOM PART 2}, year={2021}, month={1}, keywords={Swarm robotics Aggregation Bio-inspired Exploration}, doi={10.1007/978-3-030-67540-0_30} }- Arash Sadeghi Amjadi
Mohsen Raoufi
Ali Emre Turgut
George Broughton
Tomáš Krajník
Farshad Arvin
Year: 2021
Cooperative Pollution Source Exploration and Cleanup with a Bio-inspired Swarm Robot Aggregation
COLLABORATECOM PART 2
Springer
DOI: 10.1007/978-3-030-67540-0_30
Abstract
Using robots for exploration of extreme and hazardous environments has the potential to significantly improve human safety. For example, robotic solutions can be deployed to find the source of a chemical leakage and clean the contaminated area. This paper demonstrates a proof-of-concept bio-inspired exploration method using a swarm robotic system based on a combination of two bio-inspired behaviors: aggregation, and pheromone tracking. The main idea of the work presented is to follow pheromone trails to find the source of a chemical leakage and then carry out a decontamination task by aggregating at the critical zone. Using experiments conducted by a simulated model of a Mona robot, the effects of population size and robot speed on the ability of the swarm was evaluated in a decontamination task. The results indicate the feasibility of deploying robotic swarms in an exploration and cleaning task in an extreme environment.
