A Discrete Stochastic Process for Analysis of Terrain Coverage Algorithm Based on Wasp Swarm
Guoyou Zhang, Jianchao Zeng · 2012
Terrain coverage is one of basic problems in swarm robotics. Terrain coverage algorithm based on wasp swarm is a novel terrain coverage algorithm which is inspired of wasp division labor expressed by wasp response threshold. This paper introduces the terrain coverage algorithm based on wasp swarm and applies a model of discrete stochastic process to analyze the coverage performance of algorithm, such as Mathematical expectation of average coverage rate, which make possible to guide the selection of parameters in our algorithm. Simulation results show the method is effective.