Name
Abstract | ||
|---|---|---|
The Backtracking Spiral Algorithm (BSA) is a coverage strategy for mobile robots based on the use of spiral fitting paths; in order to assure the completeness, unvisited regions are marked and covered by backtracking mechanism. The BSA basic algorithm is designed to work in an environment modeled by a coarse-grain grid. BSA has been extended to cover, not only the free cells, but also the partially occupied ones. In this paper, the concepts and algorithms used to extend BSA are introduced. The ideas used to extend BSA are generic, thus a similar approach can be used to extend most of the grid-based coverage algorithms. Finally, some simulation results that demonstrate that BSA performs a complete coverage are presented. |
Year | DOI | Venue |
|---|---|---|
2005 | 10.1109/ROBOT.2005.1570413 | 2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 |
Keywords | Field | DocType |
coverage algorithm, region filling, mobile robots, service robots | Spiral,Algorithm,Engineering,Backtracking,Completeness (statistics),Grid,Mobile robot | Conference |
Volume | Issue | ISSN |
2005 | 1 | 1050-4729 |
Citations | PageRank | References |
25 | 1.41 | 8 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Enrique González | 1 | 32 | 6.75 |
| Oscar Álvarez | 2 | 25 | 1.41 |
| Yul Díaz | 3 | 25 | 1.41 |
| Carlos Parra | 4 | 25 | 1.74 |
| César Bustacara | 5 | 25 | 1.74 |