Cooperative Pollution Source Exploration and Cleanup with a Bio-inspired Swarm Robot Aggregation

Sadeghi Amjadi A., Raoufi M., TURGUT A. E., Broughton G., Krajník T., Arvin F.

16th EAI International Conference on Collaborative Computing: Networking, Applications, and Worksharing, CollaborateCom 2020, Shanghai, China, 16 - 18 October 2020, vol.350, pp.469-481 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 350
  • Doi Number: 10.1007/978-3-030-67540-0_30
  • City: Shanghai
  • Country: China
  • Page Numbers: pp.469-481
  • Middle East Technical University Affiliated: Yes


© 2021, ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering.Using robots for exploration of extreme and hazardous environments has the potential to significantly improve human safety. For example, robotic solutions can be deployed to find the source of a chemical leakage and clean the contaminated area. This paper demonstrates a proof-of-concept bio-inspired exploration method using a swarm robotic system based on a combination of two bio-inspired behaviors: aggregation, and pheromone tracking. The main idea of the work presented is to follow pheromone trails to find the source of a chemical leakage and then carry out a decontamination task by aggregating at the critical zone. Using experiments conducted by a simulated model of a Mona robot, the effects of population size and robot speed on the ability of the swarm was evaluated in a decontamination task. The results indicate the feasibility of deploying robotic swarms in an exploration and cleaning task in an extreme environment.