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Volume 27 Issue 1 - Publication Date: 1 January 2008
 
Cooperative Cleaners: A Study in Ant Robotics
 
Israel A.Wagner Computer Science Department Technion, Haifa 32000, Israel wagner@cs.technion.ac.il and IBM Haifa Labs, MATAM, Haifa 31905, Israel, Yaniv Altshuler, Vladimir Yanovski and Alfred M. Bruckstein Computer Science Department Technion, Haifa 32000, Israel
 
In the world of living creatures, simple-minded animals often cooperate to achieve common goals with amazing performance. One can consider this idea in the context of robotics, and suggest models for programming goal-oriented behavior into the members of a group of simple robots lacking global supervision. This can be done by controlling the local interactions between the robot agents, to have them jointly carry out a given mission. As a test case we analyze the problem of many simple robots cooperating to clean the dirty floor of a non-convex region in Z2, using the dirt on the floor as the main means of inter-robot communication.
 
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