Name
Abstract | ||
|---|---|---|
Multi-robot coverage and exploration are fundamental problems in robotics. A widely used, efficient and distributable algorithm for achieving coverage of a convex environment with Euclidean metrics is that proposed by Cortes which is based on the discrete-time Lloyd's algorithm. This algorithm is not directly applicable to general Riemannian manifolds with boundaries that are non-convex and are intrinsically non-Euclidean. In this paper we generalize the control law based on minimization of the coverage functional to such non-Euclidean spaces punctured by obstacles. We also propose a practical discrete implementation based on standard graph search-based algorithms. We demonstrate the applicability of the proposed algorithm by solving efficient coverage problems on a sphere and a torus with obstacles, and exploration problems in non-convex indoor environments. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1177/0278364913507324 | I. J. Robotic Res. |
Keywords | Field | DocType |
Distributed robot systems,mobile and distributed robotics SLAM,path planning for multiple mobile robot systems,autonomous agents,cognitive robotics | Cognitive robotics,Mathematical optimization,Regular polygon,Torus,Minification,Artificial intelligence,Euclidean geometry,Robot,Manifold,Mathematics,Robotics | Journal |
Volume | Issue | ISSN |
33 | 1 | 0278-3649 |
Citations | PageRank | References |
24 | 1.03 | 12 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Subhrajit Bhattacharya | 1 | 462 | 36.93 |
| robert ghrist | 2 | 446 | 32.46 |
| Vijay Kumar | 3 | 7086 | 693.29 |