A central-server-maintained visitation grid lets robots probabilistically prefer low-count 3x3 neighborhoods, cutting total collection time by up to 33% and late-stage efficiency gains over 48% versus CPFA in simulations.
Distributed covering by ant-robots using evaporating traces,
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A Visitation Grid for Complete Coverage Foraging in Robot Swarms
A central-server-maintained visitation grid lets robots probabilistically prefer low-count 3x3 neighborhoods, cutting total collection time by up to 33% and late-stage efficiency gains over 48% versus CPFA in simulations.