This book provides a comparison of a series of original coordination mechanisms for the distributed boundary coverage problem with a swarm of miniature robots. Analysis is based on real robot experimentation and models at different levels of abstraction. Distributed boundary coverage is an instance of the distributed coverage problem and has applications such as inspection of structures, demining, cleaning, and painting. Coverage is a particularly good example for the benefits of a multi-robot approach due to the potential for parallel task execution and additional robustness out of...