Cooperative Pollution Source Exploration and Cleanup with a Bio-inspired Swarm Robot Aggregation

Date

2021-01-01

Author

Sadeghi Amjadi, Arash
Raoufi, Mohsen
Turgut, Ali Emre
Broughton, George
Krajník, Tomáš
Arvin, Farshad

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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.

URI

https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85101556068&origin=inward
https://hdl.handle.net/11511/91065

DOI

https://doi.org/10.1007/978-3-030-67540-0_30

Conference Name

16th EAI International Conference on Collaborative Computing: Networking, Applications, and Worksharing, CollaborateCom 2020

Collections

Department of Mechanical Engineering, Conference / Seminar

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Citation Formats

A. Sadeghi Amjadi, M. Raoufi, A. E. Turgut, G. Broughton, T. Krajník, and F. Arvin, “Cooperative Pollution Source Exploration and Cleanup with a Bio-inspired Swarm Robot Aggregation,” Shanghai, Çin, 2021, vol. 350, Accessed: 00, 2021. [Online]. Available: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85101556068&origin=inward.