ساره ماهر سالم محمد
مدرس مساعد
From Single-Task Swarming to Multi-task Heterogeneous Swarming for Solving Non-uniform Area Coverage Problems
• 2025
معلومات البحث
المؤلفون
Mohamed, S., Kasmarik, K., Debie, E., Garratt, M
الكلمات المفتاحية
Heterogeneous swarming
Multi-tasking
Swarm robotics
Non-uniform coverage
Autonomous systems
Task distribution
المجلة العلمية
Not Available
الناشر
Springer, Singapore
المجلد
Not Available
العدد
Not Available
الصفحات
Not Available
publication.type
International
رابط البحث
Open Link
المواد المرفقة
Not Available
الملخص
Non-uniform area coverage is a challenge in which different regions of an environment require varying levels of attention. In this paper, we propose a novel multi-task swarming approach to address the non-uniform area coverage problem. In our case, this problem involves two primary sub-tasks: detecting areas of interest and subsequently covering those areas. We first approach the problem as a single-task problem solved by a homogeneous swarm. We then demonstrate how it can be solved more efficiently as a multi-tasking challenge leveraging the different capabilities of agents in a heterogeneous swarm. Our findings demonstrate reductions in time by 67% in the single-task scenario compared to alternative algorithms and by 83% in the multi-task scenario. Our results also show that optimal task distribution in our multi-tasking swarm significantly enhances efficiency and may reduce costs, highlighting the benefits of task specialization in multi-tasking approaches.
