A Method for Solving the Problem of Map Connectivity Analysis when Mapping an Area by a Roboswarm with Communication

Abstract

An algorithm for solving the problem of analysis of connectivity of a map compiled by the distributed information robot system is described. This task can be implemented by a flock (or a swarm, which is a flock without a leader) of flying reconnaissance robots, e.g., to assess if a group of ground robots provided with the obtained information can pass between obstacles. The map connectivity is analyzed based on a special renumbering of connectivity areas, which is used in data exchange between reconnaissance robots.