Survey on Coverage Path Planning with Unmanned Aerial Vehicles <s> Cellular Automata <s> Insect colony inspires scientists for years to create similar behavior in the robotic application. The main goal of our work was to develop simple and powerful algorithm which will accept dynamically changes in the size of a robot swarm due the mission. This algorithm is suitable for situations where unpredictable conditions may lead to robot fault in multi-robotics system and mission completion is endangered. In this article we would like to investigate properties of a simple pheromone based algorithm. The algorithm operates as cellular automata and partially uses an insect pheromone strategy for the robots coordination. Our abstract model is a decentralized adaptive system with a shared memory which represents the environment. <s> BIB001 </s> Survey on Coverage Path Planning with Unmanned Aerial Vehicles <s> Cellular Automata <s> This paper presents control strategy for a group of multi-rotor unmanned aerial vehicles (UAV). Descripted biologically inspired method was developed to solve exploration or monitoring tasks. The proposed solution was tested in real environment on a quad-rotor UAV platform. Our abstract model is a decentralized adaptive system with a shared memory which represents the environment. <s> BIB002 </s> Survey on Coverage Path Planning with Unmanned Aerial Vehicles <s> Cellular Automata <s> This paper represents biologically inspired control strategy for a group of robots. A descripted method was developed to solve exploration and monitoring tasks. The main goal of our work was to develop a simple and powerful algorithm which will accept dynamical changes in the number of robot swarm in line with its mission. This algorithm is suitable for situations where unpredictable conditions may lead to failures in multi-robotics system and the completion of the mission is endangered. In this article we would like to focus on the investigation of the actual characteristics of a simple pheromone based algorithm in a situation where there is a sudden failure in communication. <s> BIB003
An algorithm based on cellular automata, originally applied by Zelenka and Kasanicky BIB001 to coordinate robots in land coverage tasks, is employed by Zelenka and Kasanicky BIB002 to control two quadcopters in exploration and monitoring tasks. The adaptive decentralized system works with a shared memory represented by the environment. Virtual marks simulate the pheromones to coordinate the vehicles. A ground control station (GCS) splits the environment into virtual cells, monitors the position of the vehicles and prevents collisions sending new coordinates. Despite being considered as an adaptive decentralized system by the authors, the vehicles share a global memory using the GCS and do not make the decisions alone. The authors also explore the strategy considering the degradation of the environment's virtual marks to emulate the loss of communication BIB003 . The process of evaporation or degradation consists of reducing the amount of pheromones of a certain place when it is not visited for a while. However the degradation drops the algorithm efficiency and causes a lot of collisions between vehicles. The accumulation of a high amount of pheromones in small places may also cause coverage problems. When the aerial vehicles pass over the same locations, several times in short periods of time, they prevent the evaporation process and block other vehicles to perform the mission.