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SPACE: Adaptive Collision-Aware Swarm Exploration Based on Pheromone Fields

SPACE is a swarm exploration method inspired by ant foraging. On a synchronized shared map, it maintains an attractive frontier pheromone, a repellent exploration pheromone, and a fast robot-density field, providing local field guidance for robots. The authors evaluated it on sixteen home layouts from HouseExpo and eight campus floors from KTH, using up to two hundred fifty-six robots. At congested swarm sizes, SPACE achieved the lowest inter-robot contact rate on HouseExpo and lay on the empirical Pareto frontier on KTH.

Part of the event: SPACE Uses Pheromone Fields to Reduce Collision Rates in Swarm Exploration

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