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This paper tends to mainly target two different types of swarming behaviour, namely area coverage and goal searching within an environment occupied with obstacles. For such behaviours, we introduce a roadmap (a tree) customized to behave well in multi-agent scenarios. We consider a variety of situations and environments, and explain how the method we have proposed comes into operation under such circumstances. A comparison is, also, made with respect to multiple query roadmaps.

Coverage and Goal Searching Behaviours of a Group of Agents by a Special Single Query Roadmap - Its Benefits to Mutiple Query Roadmaps