RANT: Ant-Inspired Multi-Robot Rainforest Exploration Using Particle Filter Localisation and Virtual Pheromone Coordination
Year: 2026
Type: preprint
Abstract: This paper presents RANT, an ant-inspired multi-robot exploration framework for noisy, uncertain environments. A team of differential-drive robots navigates a 10 x 10 m terrain, collects noisy probe measurements of a hidden richness field, and builds local probabilistic maps while the supervisor maintains a global evaluation. RANT combines particle-filter localisation, a behaviour-based controller with gradient-driven hotspot exploitation, and a lightweight no-revisit coordination mechanism based on virtual pheromone blocking. We experimentally analyse how team size, localisation fidelity, and coordination influence coverage, hotspot recall, and redundancy. Results show that particle filtering is essential for reliable hotspot engagement, coordination substantially reduces overlap, and increasing team size improves coverage but yields diminishing returns due to interference.
Source: arXiv (Cornell University)
Subfield: Mechanical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W7128627525
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