A Comprehensive Overview of Bug Algorithms for Decentralized Mapping and Navigation
摘要
This paper examines various BUG and SWARM algorithms for robot navigation. We provide a comprehensive summary of initial BUG algorithms, differences, and advancements, along with a comparative study. The context and motivation for different BUG algorithms are provided for navigation in an environment with obstacles and reviews over 20 contributions made in the time frame of 2002 to 2023. These contributions are categorized based on their selection of BUG algorithm, SWARM compatibility, inter-robot detection, etc. We also discuss the real-life requirements of a navigation algorithm and review each work based on said criteria. Possible drawbacks and issues are also discussed.