Sustainable Multi-Robot Patrol of an Open Polyline

摘要：

We present an algorithm that maintains coverage of an open polyline patrolled by a team of robots. While previous work has focused on the uniformity of patrolling, we focus on ensuring the longevity of the system in the face of robot failures. A central control tower monitors the battery levels of the robots, and recalls them when they are low on power replacing them with fully charged robots. We compare two methods for replacement, both of which aim to keep coverage interruptions to a minimum. We present results obtained through physical experiments and simulations.

作者: Elizabeth Jensen Michael Franklin Sara Lahr Maria Gini

作者单位: Department of Computer Science and Engineering,University of Minnesota-Twin Cities Division of Science and Mathematics,University of Minnesota-Morris

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 4792-4797

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）