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In many applications, robots autonomous deployment is preferable andsometimes it is the only affordable solution. To address this issue, virtualforce (VF) is one of the prominent approaches to performing multirobotdeployment autonomously. However, most of the existing VF-based approachesconsider only a uniform deployment to maximize the covered area while ignoringthe criticality of specific locations during the deployment process. Toovercome these limitations, we present a framework for autonomously deployrobots or vehicles using virtual force. The framework is composed of twostages. In the first stage, a two-hop Cooperative Virtual Force based RobotsDeployment (Two-hop COVER) is employed where a cooperative relation betweenrobots and neighboring landmarks is established to satisfy missionrequirements. The second stage complements the first stage and ensures perfectdemand satisfaction by utilizing the Trace Fingerprint technique whichcollected traces while each robot traversing the deployment area. Finally, afairness-aware version of Two-hop COVER is presented to consider scenarioswhere the mission requirements are greater than the available resources (i.e.robots). We evaluate our framework via extensive simulations. The resultsdemonstrate outstanding performance compared to contemporary approaches interms of total travelled distance, total exchanged messages, total deploymenttime, and Jain fairness index.

A Framework for Autonomous Robot Deployment with Perfect Demand Satisfaction using Virtual Forces