Coverage tasks have garnered significant interest in recent years due to their applications in fields such as environmental monitoring, search and rescue, and robotic exploration. Swarm robotics has emerged as a promising approach to tackle these challenges, leveraging collective behaviors to enhance efficiency. However, the effectiveness of swarm algorithms often hinges on the careful tuning of parameters, which can be influenced by varying environmental features. This study investigates the impact of these features on the performance of optimized collective motion in swarm robotics for solving multi-objective coverage problems. Through a comprehensive sensitivity analysis, we evaluate how changes in parameters-such as arena size, number of robots, obstacle density, and obstacle structure-affect swarm performance in solving coverage problems. The analysis focuses on key performance metrics across multiple objectives: coverage percentage, coverage time, robot connectivity, and collision rates. Our findings provide critical insights into the adaptability of swarm algorithms, highlighting the importance of environmental context in optimizing swarm efficacy across competing objectives. These results contribute to the development of more robust and adaptive swarm-based solutions for multi-objective coverage tasks. |
