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Alireza Davoodi, Pooyan Fazli, Philippe Pasquier, and Alan K. Mackworth. On Multi-Robot Area Coverage. In Proceedings of The Seventh Japan Conference on Computational Geometry and Graphs, JCCGG09, pp. 75–76, Kanazawa, Japan, November 2009.
This paper presents an approach allowing a team of robots each with limited visibility to cover an area in the presence of different types of static obstacles. We introduce Reduced-CDT, an environment representation method based on Constrained Delaunay Triangulation. A new graph segmentation method called Multi-Prim's is used to decompose the Reduced-CDT and construct a forest of partial spanning trees (PSTs). Each PST is then modified through a mechanism called the Constrained Spanning Tour (CST) to build a cycle which is assigned to an explorer robot. Subsequently, robots start navigating the cycles and consequently cover the whole area. The proposed approach is guaranteed to be complete and robust.
@InProceedings{JCCGG2009,
author = {Alireza Davoodi and Pooyan Fazli and Philippe Pasquier and Alan K. Mackworth},
title = {On Multi-Robot Area Coverage},
year = {2009},
month = {November},
booktitle = {Proceedings of The Seventh Japan Conference on Computational Geometry and Graphs, JCCGG09},
address = {Kanazawa, Japan},
pages = {75-76},
abstract = {This paper presents an approach allowing a team of
robots each with limited visibility to cover an area in the presence of different types of static obstacles. We introduce Reduced-CDT, an environment representation method based on Constrained Delaunay Triangulation. A new graph segmentation method called Multi-Prim's is used to decompose the Reduced-CDT and construct a forest of partial spanning trees (PSTs). Each PST is then modified through a mechanism called the Constrained Spanning Tour (CST) to build a cycle which is assigned to an explorer robot. Subsequently, robots start navigating the cycles and consequently cover the
whole area. The proposed approach is guaranteed to be complete and robust.
},
bib2html_pubtype ={Refereed Conference Proceeding},
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}
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