Multi-Agent Path Planning of Robotic Swarms in Agricultural Fields

Nicolò Botteghi, Andreas Kamilaris, Lior Sinai, Beril Sirmaçek

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

9 Citations (Scopus)
261 Downloads (Pure)


Collaborative swarms of robots/UAVs constitute a promising solution for precision agriculture and for automatizing agricultural processes. Since agricultural fields have complex topologies and different constraints, the problem of optimized path routing of these swarms is important to be tackled. Hence, this paper deals with the problem of optimizing path routing for a swarm of ground robots and UAVs in different popular topologies of agricultural fields. Four algorithms (Nearest Neighbour based on K-means clustering, Christofides, Ant Colony Optimisation and Bellman-Held-Karp) are applied on various farm types commonly found around Europe. The results indicate that the problem of path planning and the corresponding algorithm to use, are sensitive to the field topology and to the number of agents in the swarm.
Original languageEnglish
Title of host publicationISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume V-1-2020
PublisherInternational Society for Photogrammetry and Remote Sensing (ISPRS)
Publication statusPublished - 3 Aug 2020
EventXXIVth ISPRS Congress 2020 - Virtual Event, Nice, France
Duration: 4 Jul 202010 Jul 2020
Conference number: 24


ConferenceXXIVth ISPRS Congress 2020
Abbreviated titleISPRS 2020
Internet address


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