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Pooyan Fazli, Alireza Davoodi, Philippe Pasquier, and Alan K. Mackworth. Multi-Robot Area Coverage with Limited Visibility. In Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2010, pp. 1501–1502, Toronto, Canada, May 2010.
We address the problem of multi-robot area coverage and present a new approach in the case where the map of the area and its static obstacles are known and the robots have a limited visibility range. The proposed method starts by locating a set of static guards on the map of the target area and then builds a graph called Reduced-CDT, a new environment representation method based on the Constrained Delaunay Triangulation (CDT). Multi-Prim's is used to decompose the resultant graph into a forest of partial spanning trees (PSTs). Each PST is modified through a mechanism called Constrained Spanning Tour (CST) to build a cycle which is then assigned to a covering robot. Subsequently, robots start navigating the cycles and consequently cover the whole area. The proposed approach is complete provided that at least one of the robots operates correctly.
@InProceedings{PooyanAAMAS2010,
author = {Pooyan Fazli and Alireza Davoodi and Philippe Pasquier and Alan K. Mackworth},
title = {Multi-Robot Area Coverage with Limited Visibility},
year = {2010},
month = {May},
booktitle = {Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2010},
address = {Toronto, Canada},
pages = {1501-1502},
abstract = {We address the problem of multi-robot area coverage and
present a new approach in the case where the map of the
area and its static obstacles are known and the robots have
a limited visibility range. The proposed method starts by
locating a set of static guards on the map of the target area
and then builds a graph called Reduced-CDT, a new environment
representation method based on the Constrained
Delaunay Triangulation (CDT). Multi-Prim's is used to decompose
the resultant graph into a forest of partial spanning
trees (PSTs). Each PST is modified through a mechanism
called Constrained Spanning Tour (CST) to build a cycle
which is then assigned to a covering robot. Subsequently,
robots start navigating the cycles and consequently cover
the whole area. The proposed approach is complete provided
that at least one of the robots operates correctly.
},
bib2html_pubtype ={Refereed Conference Proceeding},
bib2html_rescat ={},
}
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