Multi-Robot Forest Coverage

被引：0
|
作者：
Zheng, XM [1 ]
Jain, S [1 ]
Koenig, S [1 ]
Kempe, D [1 ]
机构：
[1] Univ So Calif, Dept Comp Sci, Los Angeles, CA 90089 USA
来源：
2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2005年
关键词：
cell decomposition; robot teams; spanning tree coverage; terrain coverage;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
One of the main applications of mobile robots is terrain coverage: visiting each location in known terrain. Terrain coverage is crucial for lawn mowing, cleaning, harvesting, search-and-rescue, intrusion detection and mine clearing. Naturally, coverage can be sped up with multiple robots. In this paper, we describe Multi-Robot Forest Coverage, a new multirobot coverage algorithm based on an algorithm by Even et al. for finding a tree cover with trees of balanced weights. The cover time or Multi-Robot Forest Coverage is at most eight times larger than optimal, and our experiments show it to perform significantly better than existing multi-robot coverage algorithms.
引用
收藏
页码：2318 / 2323
页数：6
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