Sara Maher Salem Mohamed
Asst. Lecturer
From Single-Task Swarming to Multi-task Heterogeneous Swarming for Solving Non-uniform Area Coverage Problems
• 2025
Publication Information
Authors
Mohamed, S., Kasmarik, K., Debie, E., Garratt, M
Keywords
Heterogeneous swarming
Multi-tasking
Swarm robotics
Non-uniform coverage
Autonomous systems
Task distribution
Journal
Not Available
Publisher
Springer, Singapore
Volume
Not Available
Issue
Not Available
Pages
Not Available
publication.type
International
Paper Link
Open Link
Supplementary Materials
Not Available
Abstract
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.
