Simulation of Self-organizing Multi-Robotic System used for Area Coverage and Surround of Found Targets

Self-organizing robotic systems are able to accomplish complex tasks in a changing environment through local interactions among individual agents and local environment. If a robot views a target or senses the target according to used sensor, it necessitates information whether this target is already guarded on by any other robot. If not, the robot remains to stay (it starts to guard on and raises the attraction of the target cell as well as of its outskirts). If yes, robot continues in walking around the target one target may cover more cells. One robot can guard on more than one target cells according to its sensors ranges. The robots guarding on found target cells not only need to see the target, they also need to see each other to form a secure surround. In the proposed model, field vector-based area coverage is used in combination with search and surround of some targets distributed in the area. Key-Words: Area coverage, Autonomous mobile robots, Self-organizing multi-robot system, Surround of searched targets