• Sorted by Date • Classified by Publication Type • Sorted by First Author Last Name • Classified by Author Last Name •
Pooyan Fazli, Alireza Davoodi, and Alan K. Mackworth. Multi-Robot Repeated Area Coverage. Autonomous Robots, 34(4):251–276, 2013.
We address the problem of repeated coverage of a target area, of any polygonal shape, by a team of robots having a limited visual range. Three distributed Cluster-based algorithms, and a method called Cyclic Coverage are introduced for the problem. The goal is to evaluate the performance of the repeated coverage algorithms under the effects of the variables: Environment Representation, and the Robots' Visual Range. A comprehensive set of performance metrics are considered, including the distance the robots travel, the frequency of visiting points in the target area, and the degree of balance in workload distribution among the robots. The Cyclic Coverage approach, used as a benchmark to compare the algorithms, produces optimal or near-optimal solutions for the single robot case under some criteria. The results can be used as a framework for choosing an appropriate combination of repeated coverage algorithm, environment representation, and the robots' visual range based on the particular scenario and the metric to be optimized.
@article{PooyanFazliAutonomousRobots2013,
year={2013},
journal={Autonomous Robots},
volume={34},
number={4},
title={Multi-Robot Repeated Area Coverage},
author={Pooyan Fazli and Alireza Davoodi and Alan K. Mackworth},
pages={251-276},
abstract={We address the problem of repeated coverage of
a target area, of any polygonal shape, by a team of robots
having a limited visual range. Three distributed Cluster-based algorithms,
and a method called Cyclic Coverage are introduced for the problem.
The goal is to evaluate the performance of the repeated coverage algorithms under the
effects of the variables: Environment Representation, and the
Robots' Visual Range. A comprehensive set of performance
metrics are considered, including the distance the robots
travel, the frequency of visiting points in the target area, and
the degree of balance in workload distribution among the
robots. The Cyclic Coverage approach, used as a benchmark
to compare the algorithms, produces optimal or near-optimal
solutions for the single robot case under some criteria. The
results can be used as a framework for choosing an appropriate combination
of repeated coverage algorithm, environment representation, and the robots'
visual range based on the particular scenario and the metric to be optimized.
},
bib2html_pubtype ={Refereed Journal},
bib2html_rescat ={},
}
Generated by bib2html.pl (written by Patrick Riley ) on Wed Apr 23, 2014 19:08:35