Swarms of Robots as Mine Search & Destroyers

The main subject of this work is the design of collective behaivour of robots to perform mine search on an arbitrary area. We consider that the mine searching team consist of the below members:

• Leader
• Data Collector
• Search robot
• Destroyer (Self destruction on the mine)

Intelligence of the robots:

Search team have the below properties/abilities

• Search algoritms
• Determination of Leader of Colony
• Mission Planning

Leader: Responsible from managing the health of the mission. Has ability to rework on the mission planning during the mission if needed. Also ability to assign itself as search, data collector or destroyer robot. It processes the real time data of the mission and choose the best option for the health of the mission. Also communicates with the base camp.

• Determine the search area.
• Work assignment.
• Keep all the other robots away from the determined mine before destruction occurs.
• Put all the team members into standby mode during destruction at which they are relatively safe from the explosion/destruction.

Search Robots: Responsible from searching and passing the “mine determined” message to the Data Collector. Have excavator mechanism.

Destroyers: Self destruction occurs as the activation of mine is performed. For this issue, destroyer robots include a mine destructor mechanism. Also destroyer robots have some excavator mechanism around their body to handle the deeply placed mines. End of mission is reached when the last destroyer successfully performs its work or the mission time period ends.

Data Collector: As in many of the systems in general, here one of the robots work for collecting the realtime mission data from the search team members.

Possible Scenario: