Benha University

Sara Maher Salem Mohamed

Asst. Lecturer

Faculty of Science Mathematics

From Single-Task Swarming to Multi-task Heterogeneous Swarming for Solving Non-uniform Area Coverage Problems

• 2025
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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.
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