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

页码：2318 / 2323

页数：6

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