StiCo in action

StiCo is a Stigmergic Coverage approach, which is previously designed for dispersion of robots in a communication-limited environment. In contrast to the existing coverage approaches, StiCo does not rely on direct communication between robots, and does not require any data storage or computational power for the robots. The main building block of StiCo is using environmental markers for transferring information between robots. Therefore, in this paper the practical requirements for implementation of StiCo in a real world experiment with a swarm of e-pucks are described and the coverage behavior of StiCo is validated by various experiments.