Technical Report CIS9512

TR#:CIS9512
Class:CIS
Title: COOPERATIVE CLEANERS: A CASE OF DISTRIBUTED ANT-ROBOTICS.
Authors: I.A. Wagner and A.M. Bruckstein
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Abstract: In the world of living creatures, ``simple minded'' animals often cooperate to achieve common goals with amazing performance. One can consider this idea in the context of robotics, and suggest models for programming goal-oriented behavior into the members of a group of simple robots lacking global supervision. This can be done by controlling the local interactions between the robot agents, to have them jointly carry out a given mission. As a test case we analyze the problem of many simple robots cooperating to clean the dirty floor of a non-convex region in $\mbox{\boldmath$Z$}^2$, using the dirt on the floor as the main means of inter-robot communication.
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