Name
Abstract | ||
|---|---|---|
In this paper, we address a problem of area coverage using multiple cooperating robots using a "partition and cover" approach, where the area of interest is decomposed into as many cells as the robots, and each robot is assigned the task of covering a cell. While the most partitioning approaches used in the literature in the context of a robotic coverage problem may result in topologically disconnected cells in the presence of obstacles leading to incomplete coverage, we propose to use geodesic distance-based generalization of the Voronoi partition, ensuring that each cell that is allotted for a robot for coverage is a topologically connected region, and hence, achieving a complete coverage. The proposed multi-robot coverage strategy is demonstrated with simulation in MATLAB and V-rep simulator, using two single-robot coverage algorithms reported in the literature, namely boustrophedon decomposition-based coverage and spanning tree-based coverage algorithms. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.2316/J.2020.206-0303 | INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION |
Keywords | DocType | Volume |
Coverage path planning, geodesic distance, Voronoi partitioning | Journal | 35 |
Issue | ISSN | Citations |
3 | 0826-8185 | 1 |
PageRank | References | Authors |
0.35 | 0 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Vishnu G. Nair | 1 | 1 | 0.35 |
| K. R. Guruprasad | 2 | 53 | 7.99 |